Aerospace and Electronic Systems Magazine April 2018 - 9

Wahl and Turkoglu

Figure 4.

Figure 5.

Results of real-time NRHC of a biased sine wave.

Results of real-time NRHC of an up and down ramp.

ings and control actuation do not require time or resources; rather,
they will be handled in parallel to, or otherwise separately from,
the control system computations. In particular, there would be a
subsystem that would be responsible for continuously monitoring relevant sensor readings and translating them into the current
angle of attack. Because all monitoring and calculations would be
handled by the subsystem, the main control system could quickly
query the subsystem for the current angle of attack.
Similarly, once a control action is formulated by the control
system, it could be quickly sent to a different subsystem responsible for actuator behavior. This subsystem would then move the
actuator, in the manner desired, as quickly as possible. Even if the
actuator is slow, the control system should keep giving the same
command until the actuator has moved sufficiently to affect the
APRIL 2018

angle of attack to some degree. Once it has, the control system may
give a new command to which the actuator subsystem can adjust.
Although there may be some overshoot to deal with if the actuator
is too slow, it should not affect the ability of the control system to
perform calculations in real time.
The results show that required computation time on a midlevel
laptop was approximately 80% of the simulation length, thereby
proving the real-time nature of the control system. Even so, the
code has not been fully optimized yet, and its performance can
doubtless be improved.
We next consider the associated (inherent) time delay values of
the system. Considering that most systems would operate within
the 50- to 100-Hz range, a sampling delay of one or two samples
will be tolerated easily within this structure, but anything beyond

IEEE A&E SYSTEMS MAGAZINE

9



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