Design of an Experimental Test Bench for a UAV Type Convertiplane

Jatsun, Sergey; Emelyanova, Oksana; Leon, Andres Santiago Martinez

doi:10.1088/1757-899x/714/1/012009

Cited by 16 publications

(7 citation statements)

References 3 publications

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“…Thus, the UAV multidimensional state vector includes the vectors of position and orientation of the center of mass and respectively. From works [14], [16] the system of differential equations describing the full dynamic model of a UAV type quadcopter (cross-shaped scheme) can be represented as follows: Equation 2(2)…”

Section: A Uav Generalized Mathematical Modelmentioning

confidence: 99%

Investigation of Wind Effects on UAV Adaptive PID Based MPC Control System

Martinez Leon,

Jatsun,

Emelyanova

2024

Enfoque UTE

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In this paper, an assessment of the state of coastal territories of Ecuador monitoring issue is conducted. The use of an autonomous robotic aerial platform is proposed as a technical solution to enhance the efficiency of remote surveillance missions performed by national security services along coastline. Considering the UAV nonlinear flight dynamics, as well as the missing information of the environment, is designed a UAV hierarchical control structure composed of an adaptive PID based MPC control strategy. The implementation of an adaptive PID based MPC controller leads to significantly improve the UAV optimal trajectory tracking task, as well as satisfy properties such as adaptiveness, self-learning, and capability of handling uncertainties caused by the unpredictable behavior of sea currents and wind loads retaining robust performance features. In this work, the investigation of external disturbances on UAV stabilization and positioning accuracy considers swirling wind flows and short-term wind gusts. These correspond to deterministic and random processes, are mathematically represented as trigonometric functions with random amplitudes determined by the gust coefficients and the wind loading periods of the pulses. The established range is given by a set of several observations of wind loads in the coastal territories of Ecuador. The analyzed data is collected from the database of national meteorological stations. Finally, the simulation process of the perturbed controlled motion of the UAV along a segmented linear trajectory, as well as the data analysis and graphics are carried out in the MATLAB environment.

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Section: A Uav Generalized Mathematical Modelmentioning

confidence: 99%

Investigation of Wind Effects on UAV Adaptive PID Based MPC Control System

Martinez Leon,

Jatsun,

Emelyanova

2024

Enfoque UTE

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“…With the aim to control the position of the quadcopter, including its heading orientation while performing some trajectory, it becomes necessary to control the bearing angle, i.e., the required yaw angle ψ [11,20]. The inaccuracy of heading angle orientation ψ i determination can be denoted by ψ.…”

Section: Control System Designmentioning

confidence: 99%

“…The actual heading angle orientation ψ actual is calculated on the basis of the current coordinates of the robot (x C and y C ), determined by the GPS, and the coordinates (x i and y i ) of a destination point, coming from the trajectory waypoint array [11,20]:…”

Section: Control System Designmentioning

confidence: 99%

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Jatsun

Emelyanova

Bezmen

et al. 2021

Smart Innovation, Systems and Technologies

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The paper presents a hardware/software architecture for the study of algorithms for controlling an unmanned aerial vehicle-type quadcopter in the presence of wind loads; an algorithm for the stabilization of the position of the center of mass of the quadcopter has been implemented and tested on an experimental model. The purpose of the presented hardware/software architecture is a study of the UAV control system parameters influence on the accuracy of the positioning of the vehicle in laboratory conditions under the influence of wind loads, as well as the movement of the vehicle along the specified points of the trajectory based on inertial sensors. The article discusses about the necessary hardware and software elements for reaching the stabilization of the position of the quadcopter in the hover mode based on data obtained from sensors. As the result of the study, the theoretical and experimental data are compared and the permissible range of the positioning error of the device is determined.

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“…S. Jatsun et al [12] of Southwestern State University implemented a 3-DOF test bench for a simple vertical take-off and landing (VTOL) tiltrotor UAV flight test. The test bench is capable of rotational motion of 2-DOF and translation motion of 1-DOF.…”

Section: Introductionmentioning

confidence: 99%

Development and Verification of a ROS-Based Multi-DOF Flight Test System for Unmanned Aerial Vehicles

et al. 2023

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Unmanned aerial vehicles (UAVs) are used in many research fields for diverse operations, requiring the system to be safe and efficient. Therefore, the UAV system's robustness and integrity are paramount in its design and operation. For these design and operational requirements, we propose a robot operating system (ROS) based multi-degree of freedom (DOF) flight test framework for the safe development, verification, and validation of UAVs. The developed flight test system includes a test bench capable of moving freely in 4 DOF, an electronic control unit (ECU) for collecting data from sensors and running the operation software, a power supply unit (PSU) to power up each device, an operation software tools developed in ROS for seamless integration of the software and hardware systems, and a wind tunnel for simulating the flight environment. The fidelity of the flight test framework was verified through experimental tests conducted on a rocket-propelled foldable unmanned aerial vehicle under development.

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Design of an Experimental Test Bench for a UAV Type Convertiplane

Cited by 16 publications

References 3 publications

Investigation of Wind Effects on UAV Adaptive PID Based MPC Control System

Investigation of Wind Effects on UAV Adaptive PID Based MPC Control System

Hardware/Software Architecture for Research of Control Algorithms of a Quadcopter in the Presence of External Wind Loads

Development and Verification of a ROS-Based Multi-DOF Flight Test System for Unmanned Aerial Vehicles

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