Dynamic System Identification and Modeling of a Rotary Wing UAV for Stability and Control Analysis PDF Download
Are you looking for read ebook online? Search for your book and save it on your Kindle device, PC, phones or tablets. Download Dynamic System Identification and Modeling of a Rotary Wing UAV for Stability and Control Analysis PDF full book. Access full book title Dynamic System Identification and Modeling of a Rotary Wing UAV for Stability and Control Analysis by Matthew D. McEwen. Download full books in PDF and EPUB format.
Author: Matthew D. McEwen
Publisher:
ISBN: 9781423559856
Category : Aerodynamics
Languages : en
Pages : 89
Get Book Here
Book Description
This thesis presents a method for the dynamic system identification and simulation model development of a small rotary wing UAV. Using aerodynamic parameterization and linear state-space modeling techniques, the Bergen Industrial UAV was modeled for computer simulation to analyze its inherent stability and control characteristics. The NPS designed JANRAD software was utilized to determine the stability and control derivatives used in the simulation model. The identification of the UAV dynamic model will aid in the development of closed-loop controllers capable of autonomous UAV control. The fidelity of the simulation model was verified by comparing the simulation responses with data collected from on-board sensors during test flight.
Author: Matthew D. McEwen
Publisher:
ISBN: 9781423559856
Category : Aerodynamics
Languages : en
Pages : 89
Get Book Here
Book Description
This thesis presents a method for the dynamic system identification and simulation model development of a small rotary wing UAV. Using aerodynamic parameterization and linear state-space modeling techniques, the Bergen Industrial UAV was modeled for computer simulation to analyze its inherent stability and control characteristics. The NPS designed JANRAD software was utilized to determine the stability and control derivatives used in the simulation model. The identification of the UAV dynamic model will aid in the development of closed-loop controllers capable of autonomous UAV control. The fidelity of the simulation model was verified by comparing the simulation responses with data collected from on-board sensors during test flight.
Author: Mark Brian Tischler
Publisher: AIAA Education
ISBN: 9781600868207
Category : Technology & Engineering
Languages : en
Pages : 0
Get Book Here
Book Description
Although many books have been written on the theory of system identification, few are available that provide a complete engineering treatment of system identification and how to successfully apply it to flight vehicles. This book presents proven methods, practical guidelines, and real-world flight-test results for a wide range of state-of-the-art flight vehicles, from small uncrewed aerial vehicles (UAVs) to large manned aircraft/rotorcraft.
Author: Franck Cazaurang
Publisher: ISTE Press - Elsevier
ISBN: 1785482513
Category : Technology & Engineering
Languages : en
Pages : 266
Get Book Here
Book Description
Multi-rotor Platform Based UAV Systems provides an excellent opportunity for experiential learning, capability augmentation and confidence-building for senior level undergraduates, entry-level graduates, engineers working in government agencies, and industry involved in UAV R&D. Topics in this book include an introduction to VTOL multi-copter UAV platforms, UAV system architecture, integration in the national airspace, including UAV classification and associated missions, regulation and safety, certification and air traffic management, integrated mission planning, including autonomous fault tolerant path planning and vision based auto landing systems, flight mechanics and stability, dynamic modeling and flight controller development. Other topics covered include sense, detect and avoid systems, flight testing, including safety assessment instrumentation and data acquisition telemetry, synchronization data fusion, the geo-location of identified targets, and much more. Provides an excellent opportunity for experiential learning, capability augmentation and confidence building for senior level undergraduates, entry-level graduates and engineers working in government, and industry involved in UAV R&D Includes MATLAB/SIMULINK computational tools and off-the-shelf hardware implementation tutorials Offers a student centered approach Provides a quick and efficient means to conceptualize, design, synthesize and analyze using modeling and simulations Offers international perspective and appeal for engineering students and professionals
Author: Ioannis A. Raptis
Publisher: Springer Science & Business Media
ISBN: 9400700237
Category : Technology & Engineering
Languages : en
Pages : 210
Get Book Here
Book Description
There has been significant interest for designing flight controllers for small-scale unmanned helicopters. Such helicopters preserve all the physical attributes of their full-scale counterparts, being at the same time more agile and dexterous. This book presents a comprehensive and well justified analysis for designing flight controllers for small-scale unmanned helicopters guarantying flight stability and tracking accuracy. The design of the flight controller is a critical and integral part for developing an autonomous helicopter platform. Helicopters are underactuated, highly nonlinear systems with significant dynamic coupling that needs to be considered and accounted for during controller design and implementation. Most reliable mathematical tools for analysis of control systems relate to modern control theory. Modern control techniques are model-based since the controller architecture depends on the dynamic representation of the system to be controlled. Therefore, the flight controller design problem is tightly connected with the helicopter modeling. This book provides a step-by-step methodology for designing, evaluating and implementing efficient flight controllers for small-scale helicopters. Design issues that are analytically covered include: • An illustrative presentation of both linear and nonlinear models of ordinary differential equations representing the helicopter dynamics. A detailed presentation of the helicopter equations of motion is given for the derivation of both model types. In addition, an insightful presentation of the main rotor's mechanism, aerodynamics and dynamics is also provided. Both model types are of low complexity, physically meaningful and capable of encapsulating the dynamic behavior of a large class of small-scale helicopters. • An illustrative and rigorous derivation of mathematical control algorithms based on both the linear and nonlinear representation of the helicopter dynamics. Flight controller designs guarantee that the tracking objectives of the helicopter's inertial position (or velocity) and heading are achieved. Each controller is carefully constructed by considering the small-scale helicopter's physical flight capabilities. Concepts of advanced stability analysis are used to improve the efficiency and reduce the complexity of the flight control system. Controller designs are derived in both continuous time and discrete time covering discretization issues, which emerge from the implementation of the control algorithm using microprocessors. • Presentation of the most powerful, practical and efficient methods for extracting the helicopter model parameters based on input/output responses, collected by the measurement instruments. This topic is of particular importance for real-life implementation of the control algorithms. This book is suitable for students and researches interested in the development and the mathematical derivation of flight controllers for small-scale helicopters. Background knowledge in modern control is required.
Author: Michail G. Michailidis
Publisher: Springer Nature
ISBN: 3030407160
Category : Technology & Engineering
Languages : en
Pages : 119
Get Book Here
Book Description
This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.
Author: Pascual Marqués
Publisher: John Wiley & Sons
ISBN: 1118928717
Category : Technology & Engineering
Languages : en
Pages : 788
Get Book Here
Book Description
Comprehensively covers emerging aerospace technologies Advanced UAV aerodynamics, flight stability and control: Novel concepts, theory and applications presents emerging aerospace technologies in the rapidly growing field of unmanned aircraft engineering. Leading scientists, researchers and inventors describe the findings and innovations accomplished in current research programs and industry applications throughout the world. Topics included cover a wide range of new aerodynamics concepts and their applications for real world fixed-wing (airplanes), rotary wing (helicopter) and quad-rotor aircraft. The book begins with two introductory chapters that address fundamental principles of aerodynamics and flight stability and form a knowledge base for the student of Aerospace Engineering. The book then covers aerodynamics of fixed wing, rotary wing and hybrid unmanned aircraft, before introducing aspects of aircraft flight stability and control. Key features: Sound technical level and inclusion of high-quality experimental and numerical data. Direct application of the aerodynamic technologies and flight stability and control principles described in the book in the development of real-world novel unmanned aircraft concepts. Written by world-class academics, engineers, researchers and inventors from prestigious institutions and industry. The book provides up-to-date information in the field of Aerospace Engineering for university students and lecturers, aerodynamics researchers, aerospace engineers, aircraft designers and manufacturers.
Author: Bernard Mettler
Publisher: American Mathematical Soc.
ISBN: 9781402072284
Category : Computers
Languages : en
Pages : 248
Get Book Here
Book Description
This volume introduces an approach to developing a simple and effective linear parameterized model of vehicle dynamics using the CIFERa identification tool created by the Army/NASA Rotorcraft Division.
Author: Arturo Tadeo Espinoza-Fraire
Publisher: Elsevier
ISBN: 0323954049
Category : Technology & Engineering
Languages : en
Pages : 292
Get Book Here
Book Description
Design of Control Laws and State Observers for Fixed-Wing UAVs: Simulation and Experimental Approaches provides readers with modeling techniques, simulations, and results from real-time experiments using linear and nonlinear controllers and state observers. The book starts with an overview of the history of UAVs and the equations of motion applied to them. Following chapters analyze linear and nonlinear controllers, state observers, and the book concludes with a chapter discussing testbed development and experimental results, equipping readers with the knowledge they need to conduct their own stable UAV flights whether in simulation or real-time. - Presents aerodynamic models for fixed-wing UAVs that can be used to design control laws and state observers - Applies linear and nonlinear control theories and state observers to fixed-wing UAVs - Provides real-time flight and simulation test results of fixed-wing UAVs with linear and nonlinear controllers
Author: Wei Wei
Publisher:
ISBN:
Category :
Languages : en
Pages : 152
Get Book Here
Book Description
In recent years, with the promise of extensive commercial applications, the popularity of Unmanned Aerial Vehicles (UAVs) has dramatically increased as witnessed by publications and mushrooming research and educational programs. Over the years, multi-copter aircraft have been chosen as a viable configuration for small-scale VTOL UAVs in the form of quad-copters, hexa-copters and octo-copters. Compared to the single main rotor configuration such as the conventional helicopter, multi-copter airframes require a simpler feedback control system and fewer mechanical parts. These characteristics make these UAV platforms, such as quad-copter which is the main emphasis in this dissertation, a rugged and competitive candidate for many applications in both military and civil areas. Because of its configuration and relative size, the small-scale quad-copter UAV system is inherently very unstable. In order to develop an effective control system through simulation techniques, obtaining an accurate dynamic model of a given quad-copter is imperative. Moreover, given the anticipated stringent safety requirements, fault tolerance will be a crucial component of UAV certification. Accurate dynamic modeling and control of this class of UAV is an enabling technology and is imperative for future commercial applications. In this work, the dynamic model of a quad-copter system in hover flight was identified using frequency-domain system identification techniques. A new and unique experimental system, data acquisition and processing procedure was developed catering specifically to the class of electric powered multi-copter UAV systems. The Comprehensive Identification from FrEquency Responses (CIFER®) software package, developed by US Army Aviation Development Directorate - AFDD, was utilized along with flight tests to develop dynamic models of the quad-copter system. A new set of flight tests were conducted and the predictive capability of the dynamic models were successfully validated. A PID controller and two fuzzy logic controllers were developed based on the validated dynamic models. The controller performances were evaluated and compared in both simulation environment and flight testing. Flight controllers were optimized to comply with US Aeronautical Design Standard Performance Specification Handling Quality Requirements for Military Rotorcraft (ADS-33E-PRF). Results showed a substantial improvement for developed controllers when compared to the nominal controllers based on hand tuning. The scope of this research involves experimental system hardware and software development, flight instrumentation, flight testing, dynamics modeling, system identification, dynamic model validation, control system modeling using PID and fuzzy logic, analysis of handling qualities, flight control optimization and validation. Both closed-loop and open-loop dynamics of the quad-copter system were analyzed. A cost-effective and high quality system identification procedure was applied and results proved in simulations as well as in flight tests.
Author:
Publisher:
ISBN:
Category : Aeronautics
Languages : en
Pages : 304
Get Book Here
Book Description
