348 research outputs found
PID vs LQR controller for tilt rotor airplane
The main thematic of this paper is controlling the main manoeuvers of a tilt rotor UAV airplane in several modes such as vertical takeoff and landing, longitudinal translation and the most important phase which deal with the transition from the helicopter mode to the airplane mode and visversa based on a new actuators combination technique for specially the yaw motion with not referring to rotor speed control strategy which is used in controlling the attitude of a huge number of vehicles nowadays. This new actuator combination is inspired from that the transient response of a trirotor using tilting motion dynamics provides a faster response than using rotor speed dynamics. In the literature, a lot of control technics are used for stabilizing and guarantee the necessary manoeuvers for executing such task, a multiple Attitude and Altitude PID controllers were chosen for a simple linear model of our tilt rotor airplane in order to fulfill the desired trajectory, for reasons of complexity of our model the multiple PID controller doesnt take into consideration all the coupling that exists between the degrees of freedom in our model, so an LQR controller is adopted for more feasible solution of complex manoeuvering, the both controllers need linearization of the model for an easy implementation
Modelling and analysis of a tricopter
Unmanned aerial vehicles (UAVs) can generally be defined as a “device used or intended to be used for flight in the air that has no on-board pilot”. Tricopter is one such UAV. Here we present new results to compute the kinematic and dynamic analysis for a tricopter mini-rotorcraft. The orientation and control of tricopter according to the parametric equation is also shown. The transformation of all the parameters from one co-ordinate to another co-ordinate is done. It include body frame of reference and earth frame of reference. Hence mathematical modelling of the tricopter is done. The relation or dependence of position on the angular speed of motor/s is shown by plotting three dimensional position versus time graph in MATLAB by considering different cases. A well dimensioned and rendered CAD 3D model of the intended tricopter is designed in CATIA and further rendered in Autodesk Showcase
NASA/FAA helicopter simulator workshop
A workshop was convened by the FAA and NASA for the purpose of providing a forum at which leading designers, manufacturers, and users of helicopter simulators could initiate and participate in a development process that would facilitate the formulation of qualification standards by the regulatory agency. Formal papers were presented, special topics were discussed in breakout sessions, and a draft FAA advisory circular defining specifications for helicopter simulators was presented and discussed. A working group of volunteers was formed to work with the National Simulator Program Office to develop a final version of the circular. The workshop attracted 90 individuals from a constituency of simulator manufacturers, training organizations, the military, civil regulators, research scientists, and five foreign countries
Unified incremental nonlinear controller for the transition control of a hybrid dual-axis tilting rotor quad-plane
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional
wind resistance and a broad operational range, which poses complex control
challenges due to non-affine dynamics. Traditional solutions employ multi-state
switched logic controllers for transitions. Our study introduces a novel
unified incremental nonlinear controller for overactuated dual-axis tilting
rotor quad-planes, seamlessly managing pitch, roll, and physical actuator
commands. The control allocation problem is addressed using a SQP iterative
optimization algorithm, well-suited for nonlinear actuator effectiveness in
thrust vectoring vehicles. The controller design integrates desired roll and
pitch angle inputs. These desired attitude angles are autonomously managed by
the controller and then conveyed to the vehicle during slow airspeed phases,
when the vehicle maintains its 6 DOF. We incorporate an AoA protection logic to
prevent wing stall and a yaw rate reference model for coordinated turns. Flight
tests confirm the controller's effectiveness in transitioning from hovering to
forward flight, achieving desired vertical and lateral accelerations, and
reverting to hovering
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