Flight Modeling and Experimental Autonomous Hover Control of a Fixed Wing Mini-UAV at High Angle of Attack

Blauwe, Hugo De; Bayraktar, Selcuk; Féron, Éric; Lokumcu, Fatih

doi:10.2514/6.2007-6818

Cited by 16 publications

(9 citation statements)

References 9 publications

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“…However, the maneuver performed was slow and well behaved, not representative of human piloted maneuvers that take the vehicle to the perimeter of its flight envelope. Work in [5][6][7][8][9] all propose a linear control system for performing an autonomous prop-hang, where a fixed-wing vehicle is oriented vertically (i.e. nose up) maintaining close to zero translational velocity.…”

Section: Related Workmentioning

confidence: 99%

Experiments in Fixed-Wing UAV Perching

Cory¹,

Tedrake²

2008

AIAA Guidance, Navigation and Control Conference and Exhibit

184

139

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High-precision maneuvers at high angles-of-attack are not properly addressed by even the most advanced aircraft control systems. Here we present our control design procedure and indoor experimental results with a small fixed-wing autonomous glider which is capable of executing an aggressive high angle-of-attack maneuver in order to land on a perch. We first acquire a surprisingly accurate aircraft model through unsteady flight regimes from real kinematic flight data taken in a motion-capture arena. This model is then used in a numerical nonlinear (approximate) optimal control procedure which designs a feedback control policy for the elevator deflection. Finally, we report our experimental data demonstrating that this simple glider can exploit pressure drag to achieve a high-speed perching maneuver.

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Section: Related Workmentioning

confidence: 99%

Experiments in Fixed-Wing UAV Perching

Cory¹,

Tedrake²

2008

AIAA Guidance, Navigation and Control Conference and Exhibit

184

139

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“…This was the case with researchers at the Georgia Institute of Technology, where a miniature indoor aerobatic aircraft was used to demonstrate a guidance controller for transitions into hovering state. 1 Similar work was done at the Massachusetts Institute of Technology 2 and Universit Laval. 3 Using a similar motion capture system, researchers at the University of Illinois parameterized a micro, aerobatic aircraft to determine its aerodynamic characteristics, including lift, drag, and moment curves over a wide flight regime.…”

Section: A Literature Review Of Aerobatic Unmanned Aircraft Used Formentioning

confidence: 56%

Development and Initial Testing of the Aero Testbed: A Large-Scale Unmanned Electric Aerobatic Aircraft for Aerodynamics Research

Dantsker

Johnson

Selig

2013

31st AIAA Applied Aerodynamics Conference

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This paper describes the development of a large 35%-scale unmanned aerobatic platform named the UIUC Aero Testbed, which is primarily intended to perform aerodynamics research in the full flight regime. The giant-scale aircraft with a 105-in (2.7-m) wingspan and weight of 37 lb (17 kg) was constructed from a commercially available radio control model aircraft with extensive modifications and upgrades including a 12-kW electric motor system that provides a thrust-to-weight ratio in excess of 2-to-1. It is equipped with an avionics suite that contains a high-frequency, high-resolution six degree-of-freedom (6-DOF) inertial measurement unit (IMU) that allows the system to collect aircraft state data. This information set can be used to generate high-fidelity aerodynamic data that can be used to validate high angle-of-attack flight-dynamic models. Collaboration in this project also led the Aero Testbed to have the capability to fly fully-and semi-autonomously in order to conduct autonomous flight research. A literature review of aerobatic unmanned aircraft used for research is first presented. Then the background and motivations for developing this platform are discussed. This is followed by a description of the planning and development that was involved. Finally, initial test flight results are presented, which include flight path trajectory plots of several aerobatic maneuvers. Nomenclature AV I= avionics integration ARF = almost ready to fly COT S = commercial off the shelf CG = center of gravity DOF = degree of freedom EEG = electroencephalogram IMU = inertial measurement unit RC = radio control

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“…[1][2][3][4][5][6][7] The high agility derives from having control surfaces as large as 50% chord with deflections as high as ±50 deg and propeller thrust-to-weight ratios of near 2:1. A tractor-propeller-driven fixed-wing RC variant that falls in this category is shown in Figure 1 with the large control surfaces at neutral and then deflected to illustrate their full extent.…”

Section: Introductionmentioning

confidence: 99%

Modeling Full-Envelope Aerodynamics of Small UAVs in Realtime

Selig

2010

AIAA Atmospheric Flight Mechanics Conference

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This paper focuses on full six degree-of-freedom (6-DOF) aerodynamic modeling of small UAVs at high angles of attack and high sideslip in maneuvers performed using large control surfaces at large deflections for aircraft with high thrust-to-weight ratios. Configurations such as this include many of the currently available propellerdriven RC-model airplanes that have control surfaces as large as 50% chord, deflections as high as 50 deg, and thrust-to-weight ratios near 2:1. Airplanes with these capabilities are extremely maneuverable and aerobatic, and modeling their aerodynamic behavior requires new thinking because using traditional stability derivative methods is not practical with highly nonlinear aerodynamic behavior and coupling in the presence of high propwash effects. The method described in this paper outlines a component-based approach capable of modeling these extremely maneuverable small UAVs in a full 6-DOF realtime environment over the full envelope that is defined in this paper to be the full ±180 deg range in angle of attack and sideslip. This method is the foundation of the aerodynamics model used in the RC flight simulator FS One. Piloted flight simulation results for four small RC/UAV configurations having wingspans in the range 826 mm (32.5 in) to 2540 mm (100 in) are presented to highlight results of the high-angle aerodynamics modeling approach. Maneuvers simulated include tailslides, knife edge flight, high-angle upright and inverted flight ("harriers"), rolling maneuvers at high angle ("rolling harriers") and an inverted spin of a biplane ("blender"). For each case, the flight trajectory is presented together with time histories of aircraft state data during the maneuvers, which are discussed. Nomenclature,c/4 = moment coefficient about quarter chord D = drag; propeller diameter J = propeller advance ratio based on V N L = lift M = pitching moment about y-axis (positive nose up) n = propeller rotational speed (revs/sec) * Associate Professor, Department of Aerospace Engineering, 104 S. Wright St. Senior Member AIAA.= propeller yawing moment due to angle of attack p, q, r = roll, pitch and yaw rate P N = propeller normal force due to angle of attack Q = propeller axial torque q = dynamic pressure (ρV 2 /2) R = propeller radius S = reference area T = propeller axial thrust u, v, w = components of the local relative flow velocity along x, y, z, respectively V = flow velocity x, y, z = body-axis coordinates, +x out nose, +y out right wing, +z down y c = airfoil camber TED = trailing edge down TEL = trailing edge left TEU = trailing edge up Subscripts N = normal component R = relative component Symbols α = angle of attack (arctan(w/u)) β = sideslip angle (arcsin(v/V )) β ′ = angle of attack for vertical surface (arctan(v/u)) δ a = aileron deflection [(δ a,r − δ a,l )/2], right +TEU, left +TEU δ e = elevator deflection, +TED δ r = rudder deflection, +TEL ǫ = wing induced angle of attack η s = dynamic pressure ratio for flow shadow (shielding) effect φ, θ, ψ = bank angle, pitch angle, heading angl...

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Flight Modeling and Experimental Autonomous Hover Control of a Fixed Wing Mini-UAV at High Angle of Attack

Cited by 16 publications

References 9 publications

Experiments in Fixed-Wing UAV Perching

Experiments in Fixed-Wing UAV Perching

Development and Initial Testing of the Aero Testbed: A Large-Scale Unmanned Electric Aerobatic Aircraft for Aerodynamics Research

Modeling Full-Envelope Aerodynamics of Small UAVs in Realtime

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