Improved Design and Implementation of Automatic Flight Control System (AFCS) for a Fixed Wing Small UAV

Chen²,

et al. 2018

Sensors

Localization in GPS-denied environments has become a bottleneck problem for small unmanned aerial vehicles (UAVs). Smartphones equipped with multi-sensors and multi-core processors provide a choice advantage for small UAVs for their high integration and light weight. However, the built-in phone sensor has low accuracy and the phone storage and computing resources are limited, which make the traditional localization methods unable to be readily converted to smartphone-based ones. The paper aims at exploring the feasibility of the phone sensors, and presenting a real-time, less memory autonomous localization method based on the phone sensors, so that the combination of “small UAV+smartphone” can operate in GPS-denied areas regardless of the overload problem. Indoor and outdoor flight experiments are carried out, respectively, based on an off-the-shelf smartphone and a XAircraft 650 quad-rotor platform. The results show that the precision performance of the phone sensors and real-time accurate localization in indoor environment is possible.

Section: Discussionmentioning

confidence: 99%

Real-Time UAV Autonomous Localization Based on Smartphone Sensors

Chen²,

et al. 2018

Sensors

“…In expansion, it is not possible to calculate nonlinear complex components logically contained within the streamlined strengths. For this reason, stochastic estimation strategies are utilized [3][4][5][6][7][8][9][10].…”

Section: F Fi Ig Gu Ur Re E 1 12mentioning

confidence: 99%

Improving Autonomous Performance of a Passive Morphing Fixed Wing UAV

Çoban

2020

ITC

In this study, it is examined that simultaneous flight control system and lateral and longitudional state-space model of a Unmanned Aerial Vehicle (UAV) and real time application. For this purpose an UAV whose wing and tail unit can be assembled to fuselage from different points in a prescribed interval and whose wing and tail can move forward and backward independently in tail to nose direction is manufactured. Following this, an autopilot is purchased and it lets change of P, I, D coefficients in certain intervals. First, dynamic model, and longitudinal and lateral state space models of UAV are obtained and then simulation model of UAV is reached. At the same time block diagram of autopilot system and modeling of it in MATLAB/Simulink environment are found. After these, using these two models and also benefiting and adaptive stochastic optimization method namely SPSA, simultaneous design of UAV and autopilot is done in order to minimize a cost function consisting of rise time, settling time and maximum overshoot. Therefore, primarily autonomous performance is maximized in computer environment. Moreover, high performance is observed by looking at simulation responses and real-time flights.

Proceedings of the SWSU

“…Управление полетом беспилотных летательных аппаратов различных типов (три-, квадрокоптеров) рассматривалось во многих работах 1 [1-4, 5, 6] как без учета внешних периодических нагрузок, так и с учетом, моделируемые силой сопротивления движению [7][8][9]. Выявлены зависимости отклонения реальной позиции аппарата от заданной при изменении значений коэффициентов регулятора и времени переходного процесса.…”

Section: Introductionunclassified

Adaptive Control of a Nonlinear Convertiplane under Conditions of Uncertainty

Yatsun

Emelyanova

Leon

et al. 2020

Purpose of research. The article deals with the problem of monitoring water areas in order to control their physical and chemical conditions using a flying laboratory (FL) which includes an aircraft with attachable water intake equipment and a software and hardware system. A specific feature of the monitoring of surface waters is the unpredictable behavior of air and water, periodic absence of visual contact with the aircraft, the uncertainty of tricopter characteristics. Therefore, the purpose of this article is to study the parameters of the control system (CS) to meet the requirements for the accuracy of aircraft positioning in conditions of uncertainty of external parameters. Methods. Theoretical mechanics and robot mechanics methods were used to solve the set tasks. Methods for mathematical modeling of dynamic systems were used to study the patterns of convertiplane movement. Adaptive control with a reference model were used to plan and control the movement of the aircraft. Results. The use of adaptive FL motion control made it possible to ensure convergence to zero of the tracking errors i.e., the difference between the output signals and the reference model. The proposed control system gives a good result with small disturbing effects. The parameters of the regulator that ensure the quality indicators of the ACS within the specified limits are determined. Conclusion. A mathematical model was developed and mathematical modeling of the convertiplane movement under conditions of uncertainty of external influences was performed. The problem of parameter control of a convertiplane was considered when the control coefficients were available for setting. The developed algorithms in the adaptive control system made it possible to provide faster suppression of external disturbances in comparison with the traditional PID control system for the case of a linear description of the controlled object.