A Simple and Convenient Sensor for Measuring Gasoline Engine Speed and Its Application in Flight Control of a Portable Unmanned Helicopter

2007 ◽  
Author(s):  
Chang-Jun Lin ◽  
Hiroaki Ozaki ◽  
Hua Qiu
Keyword(s):  
Flight Control ◽  
Engine Speed ◽  
Gasoline Engine ◽  
Unmanned Helicopter

Automatic Flight Control of Unmanned Helicopter Based on Nonlinear Model

2012 ◽  
Vol 472-475 ◽  
pp. 1492-1499
Author(s):  
Run Xia Guo
Keyword(s):  
Nonlinear Model ◽  
Flight Control ◽  
Attitude Control ◽  
Lyapunov Stability Theory ◽  
Test Results ◽  
Unmanned Helicopter ◽  
Control Laws ◽  
Control Approach ◽  
State Dependent ◽  
Compensation Technique

The Unmanned helicopter (UMH) movement was divided into two parts, namely, attitude and trajectory motion. And then a two-timescale nonlinear model was established. The paper improved and expanded state dependent riccati equation (SDRE) control approach, deriving analytical conditions for achieving global asymptotic stability with lyapunov stability theory. Proof was given. By combining improved SDRE control with nonlinear feed-forward compensation technique, the full envelop flight attitude control laws could be designed. On the basis of attitude control, trajectory controller was developed. Actual flight tests were carried out. Test results show that the control strategy is highly effective.

Flight Control System Design and Autonomous Flight Control of Small-Scale Unmanned Helicopter Based on Nanosensors

2021 ◽  
Vol 16 (4) ◽  
pp. 675-688
Author(s):  
Xinfan Yin ◽  
Xianmin Peng ◽  
Guichuan Zhang ◽  
Binghui Che ◽  
Chang Wang
Keyword(s):  
Control System ◽  
Flight Control ◽  
Control Algorithm ◽  
Installation Space ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Flight Control System ◽  
Autonomous Flight ◽  
Position Controller ◽  
Attitude Controller

Due to the limitation of the size and power, micro unmanned aerial vehicle (MUAV) usually has a small load capacity. Aiming at the problems of limited installation space and easy being interfered in flight attitude measurement of the small-scale unmanned helicopter (SUH), a low-cost and lightweight flight control system of the SUH based on ARM Cortex-M4 core microcontroller and Micro-Electro-Mechanical Systems (MEMS) sensors is developed in this paper. On this basis, in order to realize the autonomous flight control of SUH, firstly, the mathematical model of the SUH is given by using the Newton-Euler formulation. Secondly, a cascade flight controller consisting of the attitude controller and the position controller is developed based on linear active disturbance rejection control (LADRC) and proportional-integral-derivative (PID) control. Furthermore, simulations are conducted to validate the performance of the attitude controller and the position controller in MATLAB/SIMULINK simulation environment. Finally, based on the Align T-REX 470L SUH experimental platform, the hovering experiment and the route flight experiment are also carried out to validate the performance of the designed flight control system hardware and the proposed control algorithm. The results show that the flight control system designed in this paper has high reliability and strong anti-interference ability, and the control algorithm can effectively and reliably realize the attitude stabilization control and route control of the SUH, with high control accuracy and small error.

System identification and robust attitude control of an unmanned helicopter using novel low-cost flight control system

2019 ◽  
Vol 234 (5) ◽  
pp. 634-645
Author(s):  
Mohammad Hossein Khalesi ◽  
Hassan Salarieh ◽  
Mahmoud Saadat Foumani
Keyword(s):  
Control System ◽  
Robust Control ◽  
System Identification ◽  
Flight Control ◽  
Low Cost ◽  
Superior Performance ◽  
Raspberry Pi ◽  
Unmanned Helicopter ◽  
Flight Control System ◽  
Robust Control System

In recent years, unmanned aerial systems have attracted great attention due to the electronic systems technology advancements. Among these vehicles, unmanned helicopters are more important because of their special abilities and superior performance. The complex nonlinear dynamic system (caused by main rotor flapping dynamics coupled with the rigid body rotational motion) and considerable effects of ambient disturbance make their utilization hard in actual missions. Attitude dynamics have the main role in helicopter stabilization, so implementing proper control system for attitude is an important issue for unmanned helicopter hovering and trajectory tracking performance. Besides this, experimental utilization of low-cost flight control system for unmanned helicopters is still a challenging task. In this article, dynamic modeling, system identification, and robust control system implementation of roll and pitch dynamics of an unmanned helicopter is performed. A TRex-600E radio-controlled helicopter is equipped with a novel low-cost flight control system designed and constructed based on Raspberry Pi Linux-based microcomputer. Using Raspberry Pi makes this platform simpler to utilize and more time and cost-effective than similar platforms used before. The experiments are performed on a 5-degree-of-freedom testbed. The robust control system is designed based on [Formula: see text] method and is evaluated in real flight tests. The experiment results show that the proposed platform has the ability to successfully control the roll and pitch dynamics of the unmanned helicopter.

scholarly journals Study of the engine configuration effect on the maximum achievable load in CAI using water injection

2020 ◽  
pp. 146808742096085
Author(s):  
J Valero-Marco ◽  
B Lehrheuer ◽  
JJ López ◽  
S Pischinger
Keyword(s):  
Compression Ratio ◽  
Engine Speed ◽  
Gasoline Engine ◽  
Fuel Injection ◽  
Water Injection ◽  
Maximum Load ◽  
Operating Conditions ◽  
Work Related ◽  
Operating Strategies ◽  
Injection Strategies

The approach of this research is to enlarge the knowledge about the methodologies to increase the maximum achievable load degree in the context of gasoline CAI engines. This work is the continuation of a previous work related to the study of the water injection effect on combustion, where this strategy was approached. The operating strategies to introduce the water and the interconnected settings were deeply analyzed in order to optimize combustion and to evaluate its potential to increase the maximum load degree when operating in CAI. During these initial tests, the engine was configured to enhance the mixture autoignition. The compression ratio was high compared to a standard gasoline engine, and suitable fuel injection strategies were selected based on previous studies from the authors to maximize the reactivity of the mixture, and get a stable CAI operation. Once water injection proved to provide encouraging results, the next step dealt in this work, was to go deeper and explore its effects when the engine configuration is more similar to a conventional gasoline engine, trying to get CAI combustion closer to production engines. This means, mainly, lower compression ratios and different fuel injection strategies, which hinders CAI operation. Finally, since all the previous works were performed at constant engine speed, the engine speed was also modified in order to see the applicability of the defined strategies to operate under CAI conditions at other operating conditions. The results obtained show that all these modifications are compatible with CAI operation: the required compression ratio can be reduced, in some cases the injection strategies can be simplified, and the increase of the engine speed leads to better conditions for CAI combustion. Thanks to the analysis of all this data, the different key parameters to manage this combustion mode are identified and shown in the paper.

scholarly journals A Novel Comprehensive Kinematic and Inverse Dynamic Model for the Flybar-Less Swashplate Mechanism: Application on a Small-Scale Unmanned Helicopter

Symmetry ◽  
2020 ◽  
Vol 12 (11) ◽  
pp. 1849
Author(s):  
Jianbo Liu ◽  
Rongqiang Guan ◽  
Yongming Yao ◽  
Hui Wang ◽  
Linqiang Hu
Keyword(s):  
Dynamic Model ◽  
Flight Control ◽  
Virtual Work ◽  
Influence Factors ◽  
Parallel Manipulators ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
Helicopter Flight

In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It is a complex, multi-loop chain mechanism that controls the main rotor. In recent years, the demand for compact swashplate designs has increased owing to the development of small-scale helicopters. The swashplate mechanism proposed in this paper is the latest architectures used for hingeless rotors without a Bell-Hiller mixer. Firstly, the kinematic analysis is derived from the parallel manipulators concepts. Then, based on the principle of virtual work, a methodology for deriving a closed-form dynamic equation of the FBL swashplate mechanism is developed. Finally, the correctness and efficiency of the presented analytical model are demonstrated by numerical examples and the influence factors of the loads acted on actuators are discussed.

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