Aerial Refueling Technologies AUTOMOTIVE INFOCOM TRANSPORT & ENVIRONMENT AERONAUTICS SPACE DEFENCE & SECURITY Simulation of Aerial Refueling Coupling Dynamics in Case of Hose-Reel Dysfunction R.M. Leitner and J. Steinert Robotics Lab./Defence & Security IABG mbH Ottobrunn/Germany R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 1 of 19 Aerial Refueling Technologies Contents § Air to Air Refueling Drogue & Hose Technology § Effect of Hose Reel Dysfunction § Modeling the Tanker – Hose & Drogue – Receiver System § Different Scenarios – Numerical Simulation § Normal Case § Dysfunction § Break Out § Conclusion and Outlook R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 2 of 19 Aerial Refueling Technologies Air to Air Refueling Drogue & Hose Technology I © lrm 2015 TANKER HOSE DROGUE RECEIVER PROBE R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 3 of 19 Aerial Refueling Technologies Air to Air Refueling Drogue & Hose Technology II © lrm 2015 R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 4 of 19 Aerial Refueling Technologies The Effect of Hose Reel Dysfunction, GAF IDS Tornado, I R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 5 of 19 Aerial Refueling Technologies The Effect of Hose Reel Dysfunction, GAF IDS Tornado, II R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 6 of 19 Aerial Refueling Technologies Modeling the Tanker - Hose & Drogue - Receiver System R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 7 of 19 Aerial Refueling Technologies Equations of Motion of Tanker – Hose & Drogue System Jacobi Matrix Computation via Symbolic Math Toolbox MIL Applications (Real-Time Capability) via Simulink Coder R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 8 of 19 Aerial Refueling Technologies Equations of Motion of Tanker – Hose & Drogue System R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 9 of 19 Aerial Refueling Technologies Coupling Mechanism R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 10 of 19 Aerial Refueling Technologies Simulation Environment Scenario Settings & Control [MATLAB GUI] Flight Control [Control System Toolbox] Tanker & Receiver EoM [Symbolic Math Toolbox] Joystick Input, Visualization [SFunction] Real-Time Capability [Simulink Coder] R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 11 of 19 Aerial Refueling Technologies Numerical Simulation, Scenario: “Normal Case” © lrm 2015 R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 12 of 19 Aerial Refueling Technologies Numerical Simulation, Scenario: “Dysfunction” ©lrm, lrm 2015 R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 13 of 19 Aerial Refueling Technologies Numerical Simulation, Scenario: “Dysfunction”, Slow ©lrm, lrm 2015 2015 © lrm R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 14 of 19 Aerial Refueling Technologies Numerical Simulation, Scenario: “Break Out” © lrm 2015 R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 15 of 19 Aerial Refueling Technologies Numerical Simulation, Scenario: “Break Out”, Slow © lrm 2015 R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 16 of 19 Aerial Refueling Technologies Conclusion and Outlook Development of a complex hose & drogue multibody system in MATLAB/Simulink to § find solutions to prevent and overcome the problem of hose reel dysfunction § using an automatic warning system § study technologies in the field of manned/unmanned aerial refueling, e.g. § pilot assistance systems § sensors and data fusion § flight control R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 17 of 19 Aerial Refueling Technologies Benefits of Mathworks Tool Chain MATLAB in General § Easy to use programming language § Handles large datasets easily § Toolboxes allow to scale MATLAB to the needs of specific project Dynamic Modeling/Simulation and Control Design of Dynamics in Simulink § Graphical user interface eases design of dynamic system and allows fast control design § Hierarchical model with subsystems allow to easily adjust modeling level § Component based, components are easily reusable in multiple model/projects § Flexible interfaces for post processing of simulation data § Simulink models can be easily adjusted to model variants R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 18 of 19 Aerial Refueling Technologies Thank you for your kind attention! Any Questions? Roland M. Leitner Robotics Technical Manager Defence & Security, IABG mbH Einsteinstrasse 20 81552 Ottobrunn, Germany ': +49-89-6088-2561 : [email protected] R.M. Leitner and J. Steinert, IABG mbH MATLAB EXPO 2015 Page 19 of 19
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