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First-Principles Modeling of A Miniature Tilt-Rotor Convertiplane in Low-Speed Operation
... Error values for the corresponding generalized coordinates (the functions х * , y * , z * ) and the angles (the functions * , * , * ), determined by the difference between the actual and the given values, are fed to the input of the regulator, which calculates the values of the control voltages U1−U3, supplied to the actuators, in accordance with the adopted strategy Ui=Ui (x,y,z, , , ). Technically, the system "microcontroller and regulator" is implemented on a hardware-software base and algorithms developed [19][20][21][22]. ...
... V. TASK STATEMENT OF MOTION CONTROL ALONG A GIVEN RECTILINEAR Simply, the robot trajectory projection on the zOx plane is represented as a planar piecewise linear function [19,20]. ...
Hybrid UAV is an attractive design concept in the last decade for its superiority in combining vertical take-off and landing (VTOL) and cruise flight capabilities. In this work, we present a systematic design methodology from bottom up for an innovative tail-sitter UAV platform, named J-Lion. Implementation details are included with all design considerations and trade-offs. All subsystem dynamics is investigated to constitute
the dynamics model with a unified form for full envelope. Model-based VTOL and full envelope flights are realized with the obtained dynamics model and sophisticated flight control techniques. Experiment results successfully prove the effectiveness of
our design concept and methodology.
This paper presents a mathematical model and vertical flight control algorithms for a new tilt-wing unmanned aerial vehicle (UAV). The vehicle is capable of vertical take-off and landing (VTOL). Due to its tilt-wing structure, it can also fly horizontally. The mathematical model of the vehicle is obtained using Newton-Euler formulation. A gravity compensated PID controller is designed for altitude control, and three PID controllers are designed for attitude stabilization of the vehicle. Performances of these controllers are found to be quite satisfactory as demonstrated by indoor and outdoor flight experiments.
While much research has been carried out on propellers for full-scale aircraft, not much data exists on propellers applicable to the ever growing number of UAVs. Many of these UAVs use propellers that must operate in the low Reynolds number range of 50,000 to 100,000 based on the propeller chord at the 75% propeller-blade station. Tests were performed at the University of Illinois at Urbana-Champaign (UIUC) to quantify the propeller efficiency at these conditions. In total, 79 pro-pellers were tested and the majority fit in the 9-to 11-in diameter range. During the tests, the propeller speed (RPM) was fixed while changing the wind-tunnel speed to sweep over a range of advance ratios until reaching the windmill state (zero thrust). To examine Reynolds number effects, typically four RPM's were tested in the range 1,500 to 7,500 RPM depending on the propeller diameter. Propeller efficiencies varied greatly from a peak near 0.65 (for an efficient propeller) to near 0.28 (for an exceptionally poor propeller). Thus, these results indicate that proper propeller selection for UAVs can have a dramatic effect on aircraft performance.
The aim of this paper is to present the complete model of an unmanned convertible aerial vehicle in hover mode. This vehicle is capable of performing either in hover or in forward flight. A nonlinear control strategy is presented to stabilize the aircraft in hovering mode. An embedded low-cost pilot is described as well the experimental results of a hover flight using a prototype built in the laboratory
Received date; Accepted date] – to be inserted later Abstract A systematic approach to characterize and control the attitude of a hovering tail-sitter mini-aerial vehicle (TS-MAV) is developed. A model of the TS-MAV dynamics is formulated by decoupling and linearizing a nonlinear model based on quaternions. Identification of the model parameters was carried out using a prediction error method and flight test data. Two control structures were synthesized to examine the benefits of using an anti-windup proportional-integral regulator in the inner control loop rather than in the outer control loop. It was found that a regulator in the inner loop reduced overshoot and eliminated an unstable pole. Flight tests with a TS-MAV test bed showed that a nine percent overshoot was reduced to zero thereby demonstrating the enhanced responsiveness of the vehicle using this control strategy.
Unmanned Rotorcraft Systems explores the research and development of fully-functional miniature UAV (unmanned aerial vehicle) rotorcraft, and provides a complete treatment of the design of autonomous miniature rotorcraft UAVs. The unmanned system is an integration of advanced technologies developed in communications, computing, and control areas, and is an excellent testing ground for trialing and implementing modern control techniques. Included are detailed expositions of systematic hardware construction, software systems integration, aerodynamic modeling; and automatic flight control system design.Emphasis is placed on the cooperative control and flight formation of multiple UAVs, vision-based ground target tracking, and landing on moving platforms. Other issues such as the development of GPS-less indoor micro aerial vehicles and vision-based navigation are also discussed in depth: utilizing the vision-based system for accomplishing ground target tracking, attacking and landing, cooperative control and flight formation of multiple unmanned rotorcraft; and future research directions on the related areas.
Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism
- Kaan Tahaöner
- Mahmut Mustafaünel
- Ilyas Faruk Akşit
- Kayhan Kandemir
- Gülez
Kaan TahaÖner, Ertugrul Ç etinsoy, MustafaÜnel,
Mahmut Faruk Akşit, Ilyas Kandemir, and Kayhan
Gülez. Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism.
2008.