scholarly journals Synthesis of control system with guaranteed accuracy for unmanned aircraft

2020 ◽  
pp. 66-70
Author(s):  
О.В. Збруцький ◽  
А.С. Довгополий ◽  
О.Е. Кописов ◽  
O.O. Білобородов
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Dynamic Model ◽  
Unmanned Aerial Vehicle ◽  
Synthesis Method ◽  
Actual State ◽  
Forecast Horizon ◽  
Guaranteed Accuracy ◽  
Aerial Vehicle ◽  
The Impact

Unmanned aerial vehicle must be controllable and fend off disturbing influences. The quality and effectiveness of fulfilling these tasksare completely determined by the instrumentation system and the software of the control system, which ensures the safety and reliability of the unmanned aerial vehicle. The synthesis of adaptive control algorithms in the presence of disturbances in most cases suggests the use of a certain disturbance model and is associated with the use of integral regulators, which increases the order of the system, and sometimes they are substantially non-linear. Adaptive algorithms use both predictive methods for assessing the dynamics of an object. For the synthesis of the control system, was considered the dynamic model of an unmanned aerial vehicle as a solid. Then the linearized equations of transverse motion can be represented by a system of differential equations. The study performed the synthesis of control system regulators by integrating the equations of the dynamic model of the object for a given control program, made a forecast of the movement of an unmanned aerial vehicle for a certain final period of time. By optimization of program control, was taking into account the restrictions imposed on the control and adjustable variables, the adjustable variables of the forecasting model approach the corresponding control signals on the forecast horizon. At the calculation step, which is a fixed small part of the forecast horizon, the optimal control found was realized and the actual state of the unmanned aerial vehicle was measured at the end of the step. The forecast horizon moves forward one step, and this procedure is repeated. The efficiency of the model predictive control as synthesis method for unmanned aerial vehicle’s control system is analyzed. A new synthesis method of adaptive control system with guaranteed accuracy under an arbitrary external disturbance is shown. The method is based on evaluating the effect of disturbances, predicting the behavior of the system and compensating the impact on the control object by the formation of a law for changing the parameters of the additional controller, which does not directly affect the quality of the control system.The results of control system’s mathematical modeling for aircraft and multicopter types of unmanned aerial vehicles are presented.

scholarly journals Adaptive Traction Drive Control Algorithm for Electrical Energy Consumption Minimisation of Autonomous Unmanned Aerial Vehicle

2019 ◽  
Vol 15 (2) ◽  
pp. 62-70
Author(s):  
Aleksandr Korneyev ◽  
Mikhail Gorobetz ◽  
Ivars Alps ◽  
Leonids Ribickis
Keyword(s):  
Optimal Control ◽  
Energy Efficiency ◽  
Adaptive Control ◽  
Control System ◽  
Energy Consumption ◽  
Unmanned Aerial Vehicle ◽  
Control Algorithm ◽  
Target Function ◽  
Traction Drive ◽  
Aerial Vehicle

AbstractThe paper aims at researching and developing an adaptive control system algorithm and its implementation and integration in the control system of the existing unmanned aerial vehicle (UAV). The authors describe the mathematical model of UAV and target function for energy consumption minimisation and possible searching algorithms for UAV optimal control from an energy efficiency perspective. There are two main goals: to minimise energy consumption and to develop and investigate an adaptive control algorithm for UAV traction drive in order to increase energy efficiency.The optimal control algorithm is based on two target function values, when comparing and generating corresponding control signals. The main advantage of the proposed algorithm is its unification and usability in any electrical UAV with a different number of traction drives, different or variable mass and other configuration differences without any initial manual setup. Any electric UAV is able to move with maximal energy efficiency using the proposed algorithm.

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>

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