Emulating helicopter automatic flight control structures on transputers

In order to test a helicopter control law adequately, it is important to represent accurately the real system hardware that implements that law. The final controller then needs to be run against a helicopter model that accurately represents the real system to be controlled, including the higher order dynamics. In the case of helicopters, high-order dynamics include those generated by the complex rotor system from which all the propulsive and control forces and moments are derived. To test complete systems, including hardware-in-the-loop, it is necessary to use real-time simulation. In essence, the requirement is for a highly agile, easier to fly and very safe platform. The control system is implemented digitally (partially if not totally) and involves a high degree of sensor, navigation system and controller integration. The safety aspects imply very high computational costs. If this is coupled with the necessity to use high data rate controllers to achieve the necessary performance, the need for a fresh approach to the problem becomes apparent