Mathematical Model of Movement of the Observation and Tracking Head of an Unmanned Aerial Vehicle Performing Ground Target Search and Tracking

Abstract

The paper presents the kinematics of mutual movement of an unmanned aerial vehicle (UAV) and a ground target. The controlled observation and tracking head (OTH) is a device responsible for observing the ground, searching for a ground target, and tracking it. The preprogrammed movement of the UAV on the circle with the simultaneous movement of the head axis on Archimedes’ spiral during searching for a ground target, both fixed (bunkers, rocket missiles launching positions, etc.) and movable (tanks, infantry fighting vehicles, etc.), is considered. Dynamics of OTH during the performance of the above mentioned activities is examined. Some research results are presented in a graphical form.

Influence of the cutting parameters on the workpiece temperature during face milling

“…guides, proximity face seals, pneumatic valves [20][21][22][23][24][25][26][27], and precision devices used to control flying objects [28][29][30]. Increased temperature of the processed object during processing may lead to changes in the structure of the surface layer [31][32][33], decrease of processing accuracy [15][16][17][18][19], [34,35] related to thermal expansion of the processed material, as well as its deformation [36,37] resulting from uneven heating.…”

The impact of cooling methods on the maximum temperature of the processed object during side milling

“…The temperature present within the area of machining influences the shape and size accuracy of created objects [9][10][11][12][13][14]. It has a significant meaning during performance of precision parts of machines with high reliability [15][16][17][18][19][20][21][22][23], as well as prototypes [24] i.e. contactless face seals [4][5][6][7][8] of gyroscopes etc.…”

“…contactless face seals [4][5][6][7][8] of gyroscopes etc. [24][25][26]. It may, additionally, cause deformation of the processed object and the tools [27][28][29][30][31][32][33][34][35].…”

Aerodynamics simulation studies on the observation head placed on a board of the unmanned aerial vehicle

“…In this situation complex studies on the head are crucial. A wide range of research should include: material analysis, dynamics and control analysis, heat exchange, thermo-flexibility and analysis of developing the components and the elements of the described head, similarly to the studies [2][3][4][5][6][7][8][9][10][11][12]. In the paper [2] the general mathematic dynamics model and the algorithm for controlling the head placed on a moveable base are presented.…”

“…In the paper [2] the general mathematic dynamics model and the algorithm for controlling the head placed on a moveable base are presented. The paper [3] also presents kinematic of mutual movement of UAV and a ground target and the research on dynamics of the controlled observation head placed on UAV during searching and tracking the target. PD controller was developed to control the head.…”