Modeling and modal responses analysis of an unmanned small-scaled gyroplane

2019

IJMIC

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Multi-ducted-fan aerial vehicle (MDFAV) is a novel platform for future transportation with promising prospects, which presents brand new challenges to the modelling and control approaches. In this paper, a comprehensive flight dynamical model of MDFAV is established utilising the aerodynamics principles and classical rigid body dynamics theory aiming to balance the complexity and covering necessary important dynamical behaviour of MDFAV, which is converted into state space by linearisation at the specific speed in forward flight mode in the following step. Subsequently a dual closed loop PID controller is put forward to keep flight fast and stable with the key coefficients tuned by non-smooth parameters optimisation method. The software and hardware of flight controller are designed for flight test of MDFAV systematically. Experiment results demonstrate excellent tracking performance and robustness, and at the same time, environment disturbances are suppressed effectively.

Section: The Kinematic Equation Of the Main Bodymentioning

confidence: 99%

Modelling and attitude control of novel multi-ducted-fan aerial vehicle in forward flight

2019

IJMIC

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“…The properties of the system actuators significantly affect system performance. 15 Our previous report proposed an accurate actuator model based on the system identification technique. 16 In this case, the actuators include two types of parts: (1) two brushless directcurrent motors (BLCDMs) and (2) two servos.…”

Section: Actuator Modelmentioning

confidence: 99%

Modelling, attitude controller design and flight experiments of a novel micro-ducted-fan aircraft

Fan

Advances in Mechanical Engineering

2018

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This research concerns a novel micro-ducted-fan aircraft. A structured attitude controller is designed for a novel unmanned aerial vehicle in the presence of strong state coupling and system perturbation. The novel unmanned aerial vehicle is equipped with two tandem ducted fans to provide the main thrust. Relative to conventional (open-rotor) aircraft, our novel unmanned aerial vehicle can perform much better in indoor or other complex conditions. The inherent advantages of the duct structure also make this type of unmanned aerial vehicle more compact and efficient. In this research, a structured multi-loop feedback attitude controller is employed based on H-infinity synthesis and tuned using a type of non-smooth optimization method. This non-smooth optimization method directly and efficiently tunes the proposed control parameters to ideal structures while ensuring satisfactory practical control performance. A series of computer simulations and basic flight experiments are applied to evaluate the performance of the proposed controller. The results of simulations and experiments confirm that the performance of the proposed attitude controller is reliable and efficient in practice.

“…Then the turned inflow can be used to calculate forces and moments by some conclusions of open rotors. 16 Then the overall thrust T as well as the induced velocity v i are estimated using the following equations where is air density, a is lift curve slope of main rotor, c is the chord length of the main blade, b is the main blades number, 0 is collective pitch, x m is main duct hub's longitudinal position behind the CG, ! m and R are, respectively, the main rotor speed and radius, and D m is momentum drag.…”

Section: Aerodynamics: Forces and Moments Generation Mechanismmentioning

confidence: 99%

System identification and robust stabilization using structured controller for a novel ducted fan flying robot

Wang

Proceedings of the Institution of Mechanical Engineers, Part G:

et al. 2017

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This paper proposes complete procedures for system identification and control of a novel ducted fan flying robot on near hover flight condition. A control-oriented model structure is derived from a comprehensive mechanism model and identified by ground tests and flight experiments. In order to achieve state decoupling and reference tracking, a two-loop control architecture is employed. Non-smooth optimization algorithm is applied to efficiently tune controller parameters against multiple control requirements. Experimental results show that designed structured controller can provide better performance than classical proportional-integral-derivative (PID) controller.