scholarly journals Development of automatic system for Unmanned Aerial Vehicle (UAV) motion control for mine conditions

2021 ◽  
Vol 6 (3) ◽  
pp. 203-210
Author(s):  
M. L. Kim ◽  
L. D. Pevzner ◽  
I. O. Temkin
Keyword(s):  
Control System ◽  
Motion Control ◽  
Unmanned Aerial Vehicle ◽  
Automatic System ◽  
Underground Mining ◽  
Maximum Deviation ◽  
Average Deviation ◽  
Aerial Vehicle ◽  
Braking Distance ◽  
Payload Mass

Underground mining operations are connected with significant risks of technogenic accidents, which can be catastrophic. Mitigating the consequences of such phenomena directly depends on the reliability and efficiency of information about the state of parameters of many technological processes, mine workings and facilities located in them. At failure of standard systems of industrial telemetry in conditions of underground mining the creation of new information channels and places of information measurementbecomes practically impossible in case of emergency situation development. This predetermines necessity of use of essentially new systems of gathering and transfer of the information, based on robotized autonomous complexes. The task of acquiring reliable information about the situation in an emergency mine working with the help of drones (unmanned aerial vehicles or UAV) in order to make rational decisions in the course of the rescue operation is quite relevant. The aim of the paper was to develop a system of automatic control of an unmanned aerial vehicle (UAV) movement in confined space of a mine working, with significant perturbations of the mine air flow. The mathematical model of UAV movement in mine conditions, based on Euler angles or quaternions, was substantiated. The method of positioning through triangulation with the use of radio beacons was accepted as the basic method that allowed to determine the current position of an UAV. It was proposed to solve the problem of creation of the automatic system for an unmanned aerial vehicle movement control with the use of a hierarchical multiloop control system. The route planning algorithm was formed on the basis of the Dijkstra algorithm. For this purpose, discretization of the future motion space was performed, a labeled connected graph was constructed, on which the arc weights were the distances between the route points. A simulation experiment was implemented. The average deviation from the planned trajectory when flying at a speed of 10 m/s with payload mass up to 0.6 kg did not exceed 1 m, and the maximum deviation was unacceptably large. When flying at 6 m/s with payload mass up to 0.6 kg the average deviation did not exceed 0.3 m, and the maximum deviation, 1.2 m. The results of simulation of movement along the route towards the disturbing mine airflow showed that the control system allowed the UAV with payload of 0.6 kg to withstand the oncoming flow up to 8 m/s. It was obtained that with payload mass of 0.6 kg, the braking distance does not exceed 6 m if the UAV had a speed of 6 m/s, and the braking distance does not exceed 12 m at the speed of 10 m/s. The performed simulation studies confirmed the operating capability of the developed system for automatic motion control.

scholarly journals Penerapan Sistem Kendali PID pada Antena Pendeteksi Koordinat Posisi UAV

2015 ◽  
Vol 5 (2) ◽  
pp. 187
Author(s):  
Mahendra Budi Nugraha ◽  
Raden Sumiharto
Keyword(s):  
Control System ◽  
Motion Control ◽  
Unmanned Aerial Vehicle ◽  
Pid Control ◽  
Pid Controller ◽  
Vertical Motion ◽  
Pd Control ◽  
Is Implementation ◽  
Aerial Vehicle ◽  
Control Set

AbstrakPada penelitian ini telah diterapkan sebuah sistem kendali Proporsional-Integral-Derivatif (PID) pada antena pendeteksi koordinat posisi pesawat udara tanpa awak. Sistem kendali PID pada antena pendeteksi digunakan pada kendali gerak horizontal dan vertikal. Nilai acuan kendali PID untuk gerak horizontal adalah sudut azimuth antara antena dan UAV. Sudut tersebut didapatkan dari metode azimuth antara dua buah titik koordinat. Nilai acuan kendali PID untuk gerak vertikal adalah sudut elevasi yang didapat dari metode Haversine Formula dan Sinus Trigonemetri antara jarak dua titik koordinat terhadap ketinggian UAV. Metode tuning PID yang digunakan untuk memperoleh konstanta pengendali PID adalah metode Ziegler-Nichols dengan metode osilasi dan tabel penalaran sistem kendali Ziegler-Nichols.Hasil yang diperoleh dari penelitian ini berupa penerapan sistem kendali PID berdasarkan metode Ziegler-Nichols. Sistem kendali berdasarkan tabel penalaran Ziegler-Nichols divariasikan tiga jenis sistem kendali yaitu P, PI, dan PID. Sistem kendali PD juga diterapkan berdasarkan tabel penalaran Ziegler-Nichols dengan  pengendali integral diatur bernilai 0. Sistem kendali yang memiliki respon paling baik adalah sistem kendali PD dengan nilai Kp = 11,375 dan Kd = 0,372531 untuk kendali azimuth sedangkan kendali elevasi pada nilai Kp = 3,41 dan Kd = 0,111464. Respon yang dihasilkan kendali azimuth sebesar 0,32 detik dan kendali elevasi sebesar 0,34 detik. Kata kunci—PID, Antena Pendeteksi, Servo, UAV  Abstract In this project has been implemented a PID control system on antenna tracker of unmanned aerial vehicle coordinates. PID control system on antena tracker to be used on horizontal and vertikal motion control. The setpoint of PID controller for horizontal motion is azimuth’s angle between antenna and UAV. The angle produced by azimuth’s method between two coordinates. The setpoint of PID controller for vertical motion is elevasi’s angle that produced by haversine-formula’s method and Sinus Trigonometry between distance two coordinates toward altitude of UAV. Tuning of PID controller was calculated by Ziegler-Nichols’s method with oscillation’s method and reasoning table of Ziegler-Nichols.The result from this project is implementation PID control system with Ziegler-Nichols’s method. There ara 3 variations in Ziegler-Nichols’s table, that are P, PI, and PID control system. The PD control system also implemented with integral’s control set on 0. The control system that has a good response is PD control system with Kp = 11,375 and Kd = 0,372531 on azimuth’s control whereas elevasi’s control with Kp = 3,41 and Kd = 0,111464. Response that produced by azimuth’s control is 0,32 second and elevasi’s control is 0,34 second. Keywords—PID, Antenna Tracker, Servo, UAV 

Modeling and control of a quadrotor tail-sitter unmanned aerial vehicles

2021 ◽  
pp. 095965182110504
Author(s):  
Hongbo Xin ◽  
Yujie Wang ◽  
Xianzhong Gao ◽  
Qingyang Chen ◽  
Bingjie Zhu ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Euler Angle ◽  
Level Flight ◽  
Aerial Vehicles ◽  
Flight Mode ◽  
Aerial Vehicle ◽  
Hover Flight ◽  
And Control

The tail-sitter unmanned aerial vehicles have the advantages of multi-rotors and fixed-wing aircrafts, such as vertical takeoff and landing, long endurance and high-speed cruise. These make the tail-sitter unmanned aerial vehicle capable for special tasks in complex environments. In this article, we present the modeling and the control system design for a quadrotor tail-sitter unmanned aerial vehicle whose main structure consists of a traditional quadrotor with four wings fixed on the four rotor arms. The key point of the control system is the transition process between hover flight mode and level flight mode. However, the normal Euler angle representation cannot tackle both of the hover and level flight modes because of the singularity when pitch angle tends to [Formula: see text]. The dual-Euler method using two Euler-angle representations in two body-fixed coordinate frames is presented to couple with this problem, which gives continuous attitude representation throughout the whole flight envelope. The control system is divided into hover and level controllers to adapt to the two different flight modes. The nonlinear dynamic inverse method is employed to realize fuselage rotation and attitude stabilization. In guidance control, the vector field method is used in level flight guidance logic, and the quadrotor guidance method is used in hover flight mode. The framework of the whole system is established by MATLAB and Simulink, and the effectiveness of the guidance and control algorithms are verified by simulation. Finally, the flight test of the prototype shows the feasibility of the whole system.

scholarly journals The Antarctic Stratospheric Aerosol Observation and Sample-Return System Using Two-Stage Separation Method of a Balloon-Assisted Unmanned Aerial Vehicle

2021 ◽  
Author(s):  
Shin-Ichiro Higashino ◽  
Masahiko Hayashi ◽  
Takuya Okada ◽  
Shuji Nagasaki ◽  
Koichi Shiraishi ◽  
...  
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Stratospheric Aerosol ◽  
Separation Method ◽  
Two Stage ◽  
Sample Return ◽  
Stage Separation ◽  
Rubber Balloon ◽  
Aerial Vehicle ◽  
The Antarctic

Abstract. The authors have developed a system for the Antarctic stratospheric aerosol observation and sample-return using the combination of a rubber balloon, a parachute, and a gliding fixed-wing unmanned aerial vehicle (UAV). A rubber balloon can usually reach 20 km to 30 km in altitude, but it becomes difficult for the UAV designed as a low-subsonic UAV to directly glide back from the stratospheric altitudes because the quantitative aerodynamic characteristics necessary for the control system design at such altitudes are difficult to obtain. In order to make the observation and sample-return possible at such higher altitudes while avoiding the problem with the control system of the UAV, the method using the two-stage separation was developed and attempted in Antarctica. In two-stage separation method, the UAV first descends by a parachute after separating from the balloon at stratospheric altitude to a certain altitude wherein the flight control system of the UAV works properly. Then it secondly separates the parachute for autonomous gliding back to the released point on the ground. The UAV in which an optical particle counter and an airborne aerosol sampler were installed was launched on January 24, 2015 from S17 (69.028S, 40.093E, 607 m MSL) near Syowa Station in Antarctica. The system reached 23 km in altitude and the UAV successfully returned aerosol samples. In this paper, the details of the UAV system using the two-stage separation method including the observation flight results, and the preliminary results of the observation and analyses of the samples are shown.

scholarly journals Design and Fabrication of Voice Controlled Unmanned Aerial Vehicle

2016 ◽  
Vol 5 (3) ◽  
pp. 205
Author(s):  
S. Sakthi Anand ◽  
R. Mathiyazaghan
Keyword(s):  
Control System ◽  
Unmanned Aerial Vehicles ◽  
Unmanned Aerial Vehicle ◽  
Voice Recognition ◽  
Search And Rescue ◽  
Voice Input ◽  
Recognition Process ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
The Voice

<p class="Default">Unmanned Aerial Vehicles have gained well known attention in recent years for a numerous applications such as military, civilian surveillance operations as well as search and rescue missions. The UAVs are not controlled by professional pilots and users have less aviation experience. Therefore it seems to be purposeful to simplify the process of aircraft controlling. The objective is to design, fabricate and implement an unmanned aerial vehicle which is controlled by means of voice recognition. In the proposed system, voice commands are given to the quadcopter to control it autonomously. This system is navigated by the voice input. The control system responds to the voice input by voice recognition process and corresponding algorithms make the motors to run at specified speeds which controls the direction of the quadcopter.</p>

scholarly journals Research on Method of Farmland Obstacle Boundary Extraction in UAV Remote Sensing Images

Sensors ◽  
2019 ◽  
Vol 19 (20) ◽  
pp. 4431
Author(s):  
Fang ◽  
Chen ◽  
Jiang ◽  
Wang ◽  
Liu ◽  
...  
Keyword(s):  
Remote Sensing ◽  
Correlation Coefficient ◽  
Unmanned Aerial Vehicle ◽  
Information Acquisition ◽  
Template Matching ◽  
Obstacle Detection ◽  
Image Resolution ◽  
Average Deviation ◽  
Actual Measurement ◽  
Aerial Vehicle

Aimed at the problem of obstacle detection in farmland, the research proposed to adopt the method of farmland information acquisition based on unmanned aerial vehicle landmark image, and improved the method of extracting obstacle boundary based on standard correlation coefficient template matching and assessed the influence of different image resolutions on the precision of obstacle extraction. Analyzing the RGB image of farmland acquired by unmanned aerial vehicle remote sensing technology, this research got the following results. Firstly, we applied a method automatically registering coordinates, and the average deviations on the X and Y direction were 4.6 cm and 12.0 cm respectively, while the average deviations manually by ArcGIS were 4.6 cm and 5.7 cm. Secondly, with an improvement on the step of the traditional correlation coefficient template matching, we reduced the time of template matching from 12.2 s to 4.6 s. The average deviation between edge length of obstacles calculated by corner points extracted by the algorithm and that by actual measurement was 4.0 cm. Lastly, by compressing the original image on a different ratio, when the pixel reached 735 × 2174 (the image resolution reached 6 cm), the obstacle boundary was extracted based on correlation coefficient template matching, the average deviations of boundary points I of six obstacles on the X and Y were respectively 0.87 and 0.95 cm, and the whole process of detection took about 3.1 s. To sum up, it can be concluded that the algorithm of automatically registered coordinates and of automatically extracted obstacle boundary, which were designed in this research, can be applied to the establishment of a basic information collection system for navigation in future study. The best image pixel of obstacle boundary detection proposed after integrating the detection precision and detection time can be the theoretical basis for deciding the unmanned aerial vehicle remote sensing image resolution.

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