The Story of Self-Repairing Flight Control Systems By James E. Tomayko Edited by Christian Gelzer Dryden Historical Study No. 1 The Story of Self-Repairing Flight Control Systems By James E. Tomayko Dryden Historical Study No. 1 Edited by Christian Gelzer i ii The Story of Self-Repairing Flight Control Systems By James E. Tomayko Edited by Christian Gelzer Dryden Historical Study No. 1 On the Cover: On the front cover is a NASA photo (EC 88203-6), which shows an Air Force F-15 flying despite the absence of one of its wings. The image was modified to illustrate why self-repairing flight control systems might play a vital role in aircraft control. Between the front and rear covers, the lattice pattern represents an electronic model of a neural net, essen- tial to the development of self-repairing aircraft. On the back cover is the F-15 Advanced Control Technology for Integrated Vehicles, or ACTIVE, (EC96 43780-1), which was the primary testbed for self-repairing flight control systems. Book and cover design by Jay Levine, NASA Dryden Flight Research Center iii Table of Contents Acknowledgments .......................................................................................................................................... VI Sections Section 1: A Brief History of Flight Control and Previous Self-Repairing Systems..................................... 1 Section 2: The Self-Repairing Flight Control System................................................................................... 12 Section 3: The Intelligent Flight Control System .......................................................................................... 29 Epilogue: The Future of Intelligent Flight Control ................................................................................ 45 Glossary ............................................................................................................................................................ 52 Abbreviations .................................................................................................................................................. 54 Bibliography .................................................................................................................................................... 55 Appendices Appendix A: SRFCS Flight Log.................................................................................................................... 60 Appendix B: Flight Test Summary, SRFCS F-15A No. 8 RTO: NASA Ames-Dryden ................................ 61 Appendix C: SRFCR Progress Report, April 5, 1990 ................................................................................... 72 iv Appendix D: SRFCR Progress Report, March 29, 1990 ............................................................................... 75 Appendix E: SRFCR Progress Report, March 22, 1990 ............................................................................... 77 Appendix F: SRFCR Progress Report, March 15, 1990................................................................................ 79 Appendix G: SRFCR Progress Report, March 8, 1990 ................................................................................. 80 Appendix H: SRFCR Progress Report, March 1, 1990 ................................................................................. 83 Appendix I: SRFCR Progress Report, February 15, 1990............................................................................. 85 Appendix J: SRFCR Progress Report, February 8, 1990 .............................................................................. 87 Appendix K: SRFCR Progress Report, February 1, 1990 ............................................................................. 89 Appendix L: IFCS FRR, Structures (February 1999 Review) ...................................................................... 91 Appendix M: IFCS FRR (February 1999 Review)........................................................................................ 93 Appendix N: IFCS FRR, System Operation (February 1999 Review) ......................................................... 102 Appendix O: Report WL-TR-91-3025, Vol I Self-Repairing Flight Control, August 1991 .......................... 106 Appendix P: Pilot Reports (Boeing Company 99P0040) Intelligent Flight Control Final Report ................ 109 Appendix Q: Flight Test Matrix (Boeing Company 99P0040) Intelligent Flight Control Final Report ....... 138 v Acknowledgments My deepest thanks to J. D. “Dill” Hunley, who was the chief historian at Dryden while I was writing this monograph. He is one of the best historians, inside or outside the government, with whom I have had the pleasure to work. Michael Gorn, who succeeded Dill when this manuscript was between preparation and publishing, has my thanks for his revisions of the manuscript and other efforts. Also, an important thank you to Jim Stewart, who sponsored this history of the continuing Intelligent Flight Control System. He has a keen awareness of the value of history. I would also like to express my appreciation to those who shared precious time for an interview or patiently answered extensive questions. Their information and insights led to a more accurate publication. From NASA Ames Research Center: Chuck Jorgenson, John Kaneshige and Joe Totah. From NASA Dryden Flight Research Center: Bill Burcham, John Carter, Jerry Henry, Wilt Lock, Gerard Schkolnik, Jim Smolka, and, of course, Jim Stewart. From NASA Langley Research Center: Aaron Ostroff. From the Boeing Phantom Works: Jim Urnes, Sr. Lastly, from the U. S. Air Force’s Wright Laboratory: Bob Quaglieri. I would have been lost without my student assistant, Sara Lechleitner, whose word processing skills are almost frightening. She also has a work ethic that enables her to play intercollegiate volleyball, pursue a mechanical engineering degree with an outstanding academic record, and (incidentally) help me. She did much of the glossary, acronym list, footnotes, as well as some insightful editing. Thanks to my wife, Laura Lallement Tomayko, who scanned the line drawings, and to Dryden’s Carla Thomas, for scanning the photographs. Also thanks to Dryden layout wizard Jay Levine. Finally, to Allison Xingbi Tomayko, whose adoption focused my efforts on telling this story, I gratefully dedicate it. – James E. Tomayko April 2003 vi Section 1: A Brief History of Flight Control and Previous Self-Repairing Systems Introduction The ochre desert floor was a blur beneath the streaking Israeli Air Force F-15. From 12,000 feet, the pilot and his back-seat instructor could barely make out the haze of the Mediterranean to the west, and the teeming cities to the north. The two-ship formation was simulating the defense of his air base against two pairs of agile A-4s. Even though his plane represented technology 20 years newer than the A-4s, he had great respect for the small, maneuverable jet (which later earned notice by the public as the Navy’s aggressor plane of choice at the Top Gun School, in the movie of the same name). The pilot came up from behind the trailing pair of A-4s, looking for the classic Sidewinder missile shot. The F-15s ran with their radars off so as not to radiate electronic emissions and give away their position to the “enemy”, only now-and-again turning them on for a sweep. The subsequent snapshot of their adversaries’ position was all the F-15s had to go on, since the relatively tiny, camouflaged A-4s were difficult to acquire visually from more than a few hundred meters away. The A-4s, meanwhile, ran in on the deck, hoping to be invisible against the ground clutter from the lookdown radar of the F-15s. Suddenly one of the A-4s started a “pop-up” maneuver in which it quickly gained altitude to unmask the radar hunting it. As he climbed, the pilot of the A-4 rolled his plane inverted, allowing him to see clearly beneath him; this also meant his wings blocked any upward view. Assuming his “adversary” was now beneath him, the A-4 driver did not see the F-15 that was now, in fact, right above him, and he collided with the F-15’s right wing, destroying his own airplane. The A-4 pilot ejected as his plane exploded into a ball of fire. After the F-15 pilot recovered from the sudden and literal shock, he saw from his instruments that his jet was venting fuel at an alarming rate, emptying one entire wing tank in no time at all. The F-15 then entered a slow roll to the right at about 350 knots, and began to lose altitude, heading into a spiraling dive. The Israeli pilot had the fleeting notion of ejecting, (his back-seat instructor was telling him to do just that) but he added power instead and stomped hard left rudder in order to pull out. He managed to arrest the spin and then to regain altitude, meanwhile calling for vectors to the nearby F-16 base at Ramon. Declaring an emergency, he began reducing the big plane’s airspeed and losing altitude for landing. When the F-15 approached 260 knots, roughly twice its usual approach speed, it went into another spin. Again the 1 pilot successfully fought the urge to eject, and again he managed to stop the spin using control surface inputs and resorting to the afterburners. Approaching the runway, the F-15 touched down at 250 knots—the pilot dared go no slower for fear of losing control again. The runway at Ramon was equipped with arresting gear like that found on aircraft carriers, put there for use in emergencies. The F-15 caught an arresting wire with its tailhook, which promptly ripped away from the plane due to its