INDI Control with Direct Lift for a Tilt Rotor UAV

Francesco, Gabriele Di; D’Amato, Egidio; Mattei, M.

doi:10.1016/j.ifacol.2015.08.076

Cited by 15 publications

(4 citation statements)

References 9 publications

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“…It is one of the main physical parameters that affect the aerodynamic performance of the rotor, which directly affects the pulling force of the rotor. If the actual solidity increases, the power load of the ducted rotor decreases (Zhang et al , 2021; Francesco et al , 2015; Yilmaz et al , 2015). Its expression is as follows.…”

Section: Design Of Ducted Rotormentioning

confidence: 99%

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Guan

Zeng

2022

AEAT

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Purpose To solve the problems of short battery life and low transportation safety of logistics drones, this paper aims to propose a design of logistics unmanned aerial vehicles (UAV) wing with a composite ducted rotor, which combines fixed wing and rotary-wing. Design/methodology/approach This UAV adopts tiltable ducted rotor combined with fixed wing, which has the characteristics of fast flight speed, large carrying capacity and long endurance. At the same time, it has the hovering and vertical take-off and landing capabilities of the rotary-wing UAV. In addition, aerodynamic simulation analysis of the composite model with a fixed wing and a ducted rotor was carried out, and the aerodynamic influence of the composite model on the UAV was analyzed under different speeds, fixed wing angles of attack and ducted rotor speeds. Findings The results were as follows: when the speed of the ducted rotor is 2,500 rpm, CL and K both reach maximum values. But when the speed exceeds 3,000 rpm, the lift will decrease; when the angle of attack of the fixed wing is 10° and the rotational speed of the ducted rotor is about 3,000 rpm, the aerodynamic characteristics of the wing are better. Originality/value The novelty of this work comes from a composite wing design of a fixed wing combined with a tiltable ducted rotor applied to the logistics UAVs, and the aerodynamic characteristics of the design wing are analyzed.

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Section: Design Of Ducted Rotormentioning

confidence: 99%

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Guan

Zeng

2022

AEAT

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“…It is difficult to realize in the flight system. To avoid this deficiency, the NDI method is combined with the singular perturbation theory (i.e., the time-scale separation method of state variables) to obtain an approximate solution [33] . The time-scale separation divides the controlled variables into different groups according to their response speed to the control inputs.…”

Section: Nonlinear Dynamic Inversion Controlmentioning

confidence: 99%

Nonlinear Comprehensive Decoupling Controller Based on Direct Lift Control for Carrier Landing

Wen-hai

Liting²,

Zhang³

et al. 2022

IEEE Access

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In this study, the direct lift control (DLC) method was introduced into the carrier landing control law. Characterized by quick response and high accuracy, the DCL method can help us overcome the "backhoe" character, reduce the pilot's control burden, and improve the accuracy and safety of carrier landing. A two-level integrated landing controller was designed by combining the prescribed performance nonlinear dynamic inversion and control allocation algorithm. The decoupling between longitudinal trajectory and attitude controls, as well as the decoupling between horizontal control and longitudinal motion, was considered. First, a six-degree-of-freedom nonlinear model of an aircraft was established. Second, a dynamic inverse loop was organically connected with the control allocation loop by setting the intermediate virtual control vector. And the control performance of the dynamic inverse control loop was improved by prescribing the error vector constraint equation. Finally, the simulation results showed that the designed direct lift controller can correct the vertical path while keeping the angle of attack and flight speed stable and prevent the aircraft from losing altitude when aligning with the center line. Overall, the designed direct lift control system can improve trajectory control efficiency in carrier landing and reduce pilots' burden.

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“…This approach incrementally linearizes the nonlinear dynamics of an aircraft with respect to the so-called pseudo controls. INDI has already been adapted to various different aircraft configurations like multicopters [1][2][3] and planes [4,5] as well as hybrid aircrafts like tiltrotors [6][7][8][9][10], tiltwings [11][12][13], tailsitters [14], lift-and-cruise [15,16] and even more complex aircraft configurations as presented in [17]. A key element of INDI is the control allocation, realizing the commanded pseudo controls by calculating setpoints for the actuators based on a simplified aircraft model.…”

Section: Introductionmentioning

confidence: 99%

Parameter Tuning Approach for Incremental Nonlinear Dynamic Inversion-Based Flight Controllers

Henkenjohann,

Nolte,

Sion

et al. 2024

Actuators

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Incremental nonlinear dynamic inversion (INDI) is a widely used approach to controlling UAVs with highly nonlinear dynamics. One key element of INDI-based controllers is the control allocation realizing pseudo controls using available actuators. However, the tracking of commanded pseudo controls is not the only objective considered during control allocation. Since the approach only works locally due to linearization and the solution is often ambiguous, additional aspects like control efforts or penalizing the deviation of certain states must be considered. Conducting the control allocation by solving a quadratic program this results in a considerable number of weighting parameters, which must be tuned during control design. Currently, this is conducted manually and is therefore time consuming. An automated approach for tuning these parameters is therefore highly beneficial. Thus, this paper presents and evaluates a model-based approach automatically tuning the control allocation parameters of a tiltrotor VTOL using an optimization algorithm. This optimization algorithm searches for optimal parameters minimizing a cost functional that reflects the design target. This cost functional is calculated based on a test mission for the VTOL which is conducted within a simulation environment. The test mission represents the common operating range of the VTOL. The simulation environment consists of an aircraft model as well as a model of the INDI-based controller which is dependent on the control allocation parameters. On this basis, model-based optimization is conducted and the optimal parameters are identified. Finally, successful real-world tests on a 4-degrees-of-freedom testbench using the identified parameters are presented. Since the control allocation parameters can significantly influence the aircraft’s stability, the 4-DOF testbench for the aircraft is required for rapid validation of the parameters at a minimum amount of risk.

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INDI Control with Direct Lift for a Tilt Rotor UAV

Cited by 15 publications

References 9 publications

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Nonlinear Comprehensive Decoupling Controller Based on Direct Lift Control for Carrier Landing

Parameter Tuning Approach for Incremental Nonlinear Dynamic Inversion-Based Flight Controllers

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