三轴式无人旋翼飞行器及自适应飞行控制系统设计

doi:10.7527/S1000-6893.2013.0085

Abstract

Abstract:

A tri-axial unmanned rotor aircraft consisting of three sets of coaxial rotors is designed. The control mechanism of the unmanned rotor aircraft is very much simplified. The rotors are directly driven by DC motors. The speed of each motor is the only regulating variable which could control the attitude and trajectory of the aircraft. In order to verify the design of the flight control system for the triaxial unmanned rotor aircraft, a nonlinear dynamic model of the aircraft is investigated. A computing method of the rotor aerodynamic loads is established by means of the blade element momentum theory. The effect of the rotor inflow characteristics on the rotor aerodynamic load is analyzed. The validity of the rotor aerodynamic load model for the co-axial rotor is tested by experiments. Due to the influence of nonlinearity and un-modeled dynamics, it is quite difficult to establish a very accurate mathematical model, which makes it a challenge to design a flight control system. In this paper, a rotational dynamical model inverse controller and translational dynamical model inverse controller are deduced according to the nonlinear model of the aircraft. The model inverse error is adaptively compensated with an online neural network. The command following error is regulated with a PD/PI controller. A combined maneuver flight mission task element is applied to simulation validation, which included pirouette and vertical maneuvers. A demonstration is conducted to validate the flight control system of the tri-axial unmanned rotor aircraft. Simulation results including an imitation of gust disturbance are provided. The demonstration shows clearly that the designed flight control system has adaptability and robustness, and that it can implement accurate command following control.

Key words: unmanned aerial vehicle, coaxial rotor, multi-rotor, aerodynamic characteristic, dynamic inversion, neural network adaptive control, maneuver flight simulation verification

CLC Number:

XIA Qingyuan, XU Jinfa. A Design of Triaxial Unmanned Rotor Aircraft and Its Adaptive Flight Control System[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, doi: 10.7527/S1000-6893.2013.0085.

References

[1] Kim H W, Brown R E. Modelling the aerodynamics of coaxial helicopters—from an isolated rotor to a complete aircraft. Proceedings of the 1st EU-Korea Conference on Science and Technology, 2008: 45-59.

[2] Escareno J, Sanchez A, Garcia O, et al. Modeling and global control of the longitudinal dynamics of a coaxial convertible mini-UAV in hover mode. Journal of Intelligent and Robotic Systems: Theory and Applications. 2009, 54(1-3): 261-273.

[3] Schafroth D, Bermes C, Bouabdallah S, et al. Modeling, system identification and robust control of a coaxial micro helicopter. Control Engineering Practice, 2010, 18(7): 700-711.

[4] Xu H Y, Ye Z Y. Numerical simulation of unsteady flow around forward flight helicopter with coaxial rotors.Chinese Journal of Aeronautics, 2011, 24(1): 1-7.

[5] Bermes C, Bouabdallah S, Schafroth D, et al. Design of the autonomous micro helicopter muFly. Journal of Mechatronics, 2011, 21(5): 765-775.

[6] Hull R A, Schumacher D, Qu Z. Design and evaluation of robust nonlinear missile autopilots from a performance perspective. Proceedings of the American Control Conference, 1995: 189-193.

[7] Xu H, Mirmirani M D, Ioannou P A. Adaptive sliding mode control design for a hypersonic flight vehicle. Journal of Guidance, Control, and Dynamics, 2004, 27(5): 829-838.

[8] Liu Q, Yu D R, Wang Z Q. Sliding-mode observer design for a hypersonic vehicle. Acta Aeronautica et Astronautica Sinica, 2004, 25(6): 588-592.(in Chinese) 刘强, 于达仁, 王仲奇. 高超声速飞行器的滑模观测器设计.航空学报, 2004, 25(6): 588-592.

[9] Xu R, Ozguner U. Sliding mode control of a class of underactuated systems. Automatica, 2008, 44(1): 233-241.

[10] Johnson E N, Calise A J. Pseudo-control hedging: a new method for adaptive control. Advances in Navigation Guidance and Control Technology Workshop, 2000.

[11] Leishman J G, Ananthan S. Aerodynamic optimization of a coaxial proprotor. 62nd Annual National Forum of the American Helicopter Society, 2006.

[12] Bohorquez F. Rotor hover performance and system design of an efficient coaxial rotary wing micro air vehicle. Maryland: Department of Aerospace Enginering, University of Maryland, 2007.

[13] Pillay P, Krishnan R. Modeling, simulation, and analysis of permanent-magnet motor drives. I. the permanent-magnet synchronous motor drive. IEEE Transactions on Industry Applications, 1989, 25(2): 265-273.

[14] Aung W P. Analysis on modeling and simulink of DC motor and its driving system used for wheeled mobile robot. World Academy of Science, Engineering and Technology, 2007, 32: 299-306.

[15] Johnson E N, Calise A J, Corban J E. Adaptive guidance and control for autonomous launch vehicles. Proceedings of IEEE Aerospace Conference, 2001: 2669-2682.

[16] Calise A J, Lee H, Kim N. High bandwidth adaptive flight control. AIAA-2000-4551, 2000.

[17] Hovakimyan N, Kim N, Calise A J, et al. Adaptive output feedback for high-bandwidth control of an unmanned helicopter. AIAA-2001-4181, 2001.

[18] Leintner J, Calise A, Prasad J. Analysis of adaptive neural networks for helicopter flight controls. Joural of Guidance, Control, and Dynamics, 1997, 20(5): 972-979.

[19] Calise A J, Johnson E N, Johnson M D, et al. Applications of adaptive neural-network control to unmanned aerial vehicles. AIAA/ICAS International Air and Space Symposium and Exposition: Next 100 Years, 2003.

[20] Mcfarland M B, Calise A J. Neural-adaptive nonlinear autopilot design for an agile anti-air missile. AIAA Guidance, Navigation, and Conrol Conference, 1996.

[21] Mcfarland M B, Calise A J. Neural networks for stable adaptive control of air-to-air missiles. AIAA Guidance, Navigation, and Conrol Conference, 1995.

[22] Cai H M, Ang H S, Zheng X M. Flight control system of MAV based on adaptive dynamic inversion. Journal of Nanjing University of Aeronautics & Astronautics, 2011, 43(2): 137-142. (in Chinese) 蔡红明, 昂海松, 郑祥明. 基于自适应逆的微型飞行器飞行控制系统.南京航空航天大学学报, 2011, 43(2): 137-142.

[23] Yang Z F, Lei H M, Dong F Y, et al. Inverse control of missile on-line compensation based on LS-SVM. Systems Engineering and Electronics, 2010, 32(6): 1314-1317. (in Chinese) 杨志峰, 雷虎民, 董飞垚, 等. 基于LS-SVM的导弹在线误差补偿逆控制.系统工程与电子技术, 2010, 32(6): 1314-1317.

[24] Johnson E N, Calise A J. Neural network adaptive control of systems with input saturation. Proceeding of the American Control Conference, 2001: 3527-3532.

[25] Wang H, Xu J F, Gao Z. Design of attitude control system based on neural network to unmanned helicopter. Acta Aeronautica et Astronautica Sinica, 2005, 26(6): 16-20. (in Chinese) 王辉, 徐锦法, 高正. 基于神经网络的无人直升机姿态控制系统设计. 航空学报, 2005, 26(6): 16-20.

[26] Chen H B, Zhang S G, Fang Z P. Implicit NDI robust nonlinear control design with acceleration feedback. Acta Aeronautica et Astronautica Sinica, 2009, 30(4):597-603.(in Chinese) 陈海兵, 张曙光, 方振平. 加速度反馈的隐式动态逆鲁棒非线性控制律设计. 航空学报, 2009, 30(4): 597-603.

[27] ADS-33E-PRF Aeronautical design standard performance specification handling qualities requirements for military rotorcraft. United States Army Aviation and Missile Command, 2000.

[28] Calise J, Rysdyk R T. Adaptive model inversion flight control for tiltrotor aircraft. AIAA-1997-3758, 1997.

[29] Chowdhary G, Johnson E N. Adaptive flight control with guaranteed convergence. Conference on Guidance, Navigation and Control, 2011.

[30] Johnson E N, Oh S M. Adaptive control using combined online and background learning neural network. IEEE Conference on Decision and Control, 2004: 5433-5438.

[31] Lewis F L, Yegildirek A, Liu K. Multilayer neural-net robot controller with guaranteed tracking performance. IEEE Transactions on Neural Networks, 1996, 7(2): 388-399.

A Design of Triaxial Unmanned Rotor Aircraft and Its Adaptive Flight Control System

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Dazhi SUN, Xi CHEN, Weicheng BAO, Wei BIAN, Qijun ZHAO. Interferences of high-speed helicopter fuselage on aerodynamic and aeroacoustic source characteristics of propeller [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529142-529142.
[2]	Jiaqi LIU, Rongqian CHEN, Jinhua LOU, Xu HAN, Hao WU, Yancheng YOU. Aerodynamic shape optimization of high-speed helicopter rotor airfoil based on deep learning [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529828-529828.
[3]	Yuqing QIU, Yan LI, Jinxi LANG, Yuxian LIU, Zhong WANG. Robust adaptive attitude control of high-speed helicopters in transition mode [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529927-529927.
[4]	Wei ZHANG, Ruojun HE. Autonomous trajectory design for IoT data collection by UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 329054-329054-1.
[5]	Chunhui ZHAO, Anmeng LIU, Yang LYU, Quan PAN. A survey of resilient self-localization for UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 28839-028839.
[6]	Yurou DAI, Jian LI, Xiaopeng XUE, Wei RONG. Aerodynamic characteristics of supersonic disk-gap-band parachute with different reefing ways [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 128811-128811.
[7]	Xudong LUO, Yiquan WU, Jinlin CHEN. Research progress on deep learning methods for object detection and semantic segmentation in UAV aerial images [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 28822-028822.
[8]	Chao AN, Guixi HUO, Yang MENG, Changchuan XIE, Chao YANG. Aerodynamic modeling methods and influence of layout parameters for wingtip⁃hinged multi⁃body combined UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(6): 629587-629587.
[9]	Gaojie ZHENG, Xiaoming HE, Dongpo LI, Huijun TAN, Kun WANG, Zhenlong WU, Depeng WANG. Double 90° deflection inlet/volute coupling flow characteristics of tail-powered unmanned aerial vehicle [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(4): 128782-128782.
[10]	Qingrui ZHANG, Yunyun LIU, Huijie SUN, Bo ZHU. Robust cooperative tracking control for close formation of fixed⁃wing unmanned aerial vehicles [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 629233-629233.
[11]	Hongzhen GUO, Mou CHEN, Yongdong DAI, Maofei WANG. Distributed adaptive event⁃triggered formation control for QUAVs [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729917-729917.
[12]	Kunda LIU, Xueming LIU, Bo ZHU, Qingrui ZHANG. Robust safe control for multi⁃UAV formation flight through narrow corridors [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S2): 729768-729768.
[13]	Shu YANG. Helicopter integrated flight⁃engine control with envelope protections [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727560-727560.
[14]	Siyuan CHANG, Yao XIAO, Guangli LI, Zhongwei TIAN, Kaikai ZHANG, Kai CUI. Effect of wing dihedral and anhedral angles on hypersonic aerodynamic characteristics of high-pressure capturing wing configuration [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 127349-127349.
[15]	An ZHANG, Mi YANG, Wenhao BI, Baichuan ZHANG, Yunong WANG. Task allocation of heterogeneous multi-UAVs in uncertain environment based on multi-strategy integrated GWO [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(8): 327115-327115.