Tustin Pilot Model

Represent Tustin pilot model

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Libraries:
Aerospace Blockset / Pilot Models

Description

The Tustin Pilot Model block represents the pilot model that A. Tustin describes in The Nature of the Operator’s Response in Manual Control, and its Implications for Controller Design [1]. When modeling human pilot models, use this block for the least accuracy, compared to that provided by the Crossover Pilot Model and Precision Pilot Model blocks. This block requires less input than those blocks, and provides better performance. However, the results might be less accurate.

This pilot model is a single input, single output (SISO) model that represents human behavior, and is based on the transfer function described in Algorithms.

This block has nonlinear behavior. If you want to linearize the block (for example, with the linearize (Simulink Control Design) function or one of the linmod functions), you might need to change the Pade approximation order. The Tustin Pilot Model block implementation incorporates the Transport Delay block with the Pade order (for linearization) parameter set to 2 by default. To change this value, use the set_param function, for example:

set_param(gcb,'pade','3')

Note

The linmod function provides only basic linearization capabilities. For full linearization functionality, use Simulink^® Control Design™ software. For more information, see Choose Linearization Tools (Simulink Control Design).

Ports

Input

x com — Signal command

scalar

Signal command that the pilot model controls, specified as a scalar.

Data Types: double

x — Signal controlled by pilot

scalar

Signal controlled by pilot, specified as a scalar.

Data Types: double

Output

u — Aircraft command

scalar

Aircraft command, returned as a scalar.

Data Types: double

Parameters

Pilot gain — Pilot gain

1 (default) | scalar

Pilot gain, specified as a double scalar.

Programmatic Use

Block Parameter: Kp

Type: character vector

Values: double scalar

Default: '1'

Pilot time delay(s) — Pilot time delay

0.1 (default) | scalar

Total pilot time delay, specified as a double scalar, in seconds. This value typically ranges from 0.1 s to 0.2 s.

Programmatic Use

Block Parameter: time_delay

Type: character vector

Values: double scalar

Default: '0.1'

Pilot lead constant — Pilot lead constant

5 (default) | scalar

Pilot lead constant, specified as a double scalar.

Programmatic Use

Block Parameter: T

Type: character vector

Values: double scalar

Default: '5'

Algorithms

This pilot model is a single input, single output (SISO) model that represents human behavior, based on the transfer function:

$$\frac{u(s)}{e(s)}=\frac{K_p(1+Ts)}{s}{e}^{-\tau s}.$$

In this equation:

Variable	Description
K p	Pilot gain.
T	Lead constant.
τ	Transport delay time caused by the pilot neuromuscular system.
u(s)	Input to the aircraft model and output to the pilot model.
e(s)	Error between the desired pilot value and the actual value.

References

[1] Tustin, A., The Nature of the Operator’s Response in Manual Control, and its Implications for Controller Design. Convention on Automatic Regulators and Servo Mechanisms. May, 1947.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2012b