A Hierarchical Model of a Helicopter Pilot

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Abstract
A hierarchical model of a helicopter pilot is developed and mechanized by means of computer simulation. The basic element of the pilot model is a decision hierarchy which determines the multiloop closure and tracking characteristics of the man-vehicle system. Pilot model input is quantized and used by the hierarchy to determine the specific loop to be closed and the particular transfer function to apply to that loop. The pilot model and vehicle dynamics are implemented on a digital computer. Model validation is provided by comparison of tracking records obtained from this simulation of the vehicle with a human operator. Although developed for a vehicle with only the two lateral degrees of freedom, the pilot model is sufficiently general in form to allow its extension to six degrees of freedom. As a fourth-order system, it is applicable to the control of not only the helicopter, but all VTOL vehicles. The reduction of higher-order inputs to zero permits applicability to vehicles with lower-order dynamics. Its form is independent of the input function.

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