Adaptive fuzzy proportional-integral-derivative control for micro aerial vehicle

With multiple industries employing Micro Aerial Vehicles (MA V) to accomplish various tasks comprising agricultural spraying, package delivery and disaster monitoring, the MA V system has attracted researchers towards resolving its stability issue as emerged from external disturbances. Disruptions caused by both wind and payload change disturbances have prevailed as natural mishaps which degrade performance of the quadrotor MA V system at the horizontal and vertical positions in the aspects of overshoot (OS), rise time (Tr), settling time (Ts)and steady-state error (ess)· Such adversities then cause increased error between the system's desired and actual positions, with a longer rise time and settling time towards reaching its steady-state condition. Adopting the rotary wing quad-rotor MAV system with 'X' configuration as the groundwork, the current study has especially set to explore a new approach for the system's robust positional control in the concurrent presence of wind and payload change disturbances. Earlier literatures have simultaneously suggested the adoptions of linear, nonlinear and hybrid approaches towards handing stability challenge of the quad-rotor MA V. Notably, most hybrid approaches are unable to account for current changes in the system's environment, whilst incapable of concomitantly handle multiple disturbances. An instance being the Fuzzy-PID (FPID) method which merely adjusts the Proportional-Integral-Derivative (PID) gains ensuing discovered positional error from emergence of system's overshoot. Acknowledging such incompetency, this research further proposed Adaptive Fuzzy-PlD (AFPID) controller as the contemporary hybrid approach that includes adaptability function for overcoming nonlinearity of the quad-rotor MA V system, while maintaining the system's robust performance facing current environmental changes from simultaneous wind and payload change disturbances. With the proposed adaptive fuzzy control being adopted to adjust the PID gains in accordance to surrounding changes, undertaken improvement is hereby targeted to eliminate the effect of wind and payload change disturbances amidst stabilizing the employed system. In return, encountered error on both the quad-rotor MA V's horizontal and vertical positions is expected to decline despite concurrent bombardment of multiple external disturbances, following a decrease to the system's overshoot (OS), rise time (Tr), settling time (Ts)and steady-state error (ess). In simulation, performance of the proposed AFPID controller on the horizontal, y position as studied under circumstances of different incoming wind velocities and water flow rates with respect to OS, Tr, Ts and e55 is placed in comparison to the performance of the PID and FPID methods. Improvement is observed in the system's ess for the AFPID controller on the horizontal, y position amid disruption of combined disturbances, with respective reductions of0.93 x 10-3 % and 1.35 X 10-3 % over the performances of PID and FPID controllers. Obtained results then confirm corresponding decline of 27.5% and 21.70% in OS for the AFPID controller over the PID and FPID controllers. A decline of 13 7.50 s and 13.40 s in Ts is further recorded for the AFPID controller as compared to the respective PID and FPID controllers. Accumulated findings, thus, validate AFPID as an effective controller for minimized positional error, smaller overshoot (OS) and steady-state error (esJ, as well as shorter settling time (Ts) and rise time (Tr) as compared to the earlier PID and FPID controllers when faced with uncertain situations of wind and payload change disturbances

무익기형 전기 추진 수직 이착륙기에 대한 다학제 해석 및 시뮬레이션 프레임워크

학위논문(박사) -- 서울대학교대학원 : 공과대학 항공우주공학과, 2023. 2. 이관중.A wingless-type electric vertical take-off and landing (eVTOL) is one of the representative aircrafts utilized logistics and delivery, search and rescue, military, agriculture, and inspection of structures. For a small unmanned aerial vehicles of the wingless-type eVTOL, a quadrotor is a representative configuration to operate those missions. For a large size of the wingless-type eVTOL, it is an aircraft for urban air mobility service (UAM) specialized for intracity point-to-point due to its advantages such as efficient hover performance, high gust resistance, and relatively low noisiness. The rotating speed of the multiple rotors in the wingless-type eVTOL has to be changed continuously to achieve stable flight. Moreover, the speed and the loaded torque of the motors also continuously change. Therefore, it is necessary to analyze the rotor thrust and torque with respect to the speed of each rotor as assigned by the controller to predict the flight performance of the wingless-type eVTOL. The electric power required by the motors is also necessary to be predicted based on the torque loaded to the motors to maintain the rotating speed. This study suggests a flight simulation framework based on these multidisciplinary analyses including control, rotor aerodynamics, and electric propulsion system analysis. Using the flight simulation framework, it is possible to predict the flight performance of the wingless-type eVTOL for given operating conditions. The flight simulation framework can predict the overall performance required to resist the winds and the corresponding battery energy of a quadrotor. Flight endurance of an industrial quadrotor was examined under light, moderate, and strong breeze modeled by von Kármán wind turbulence with Beaufort wind force scale. As a result, it is found that the excess battery energy is increased with ground speed, even under the same wind conditions. As the ground speed increases, the airspeed is increased, led to higher frame drag, position error, pitch angle, and required mechanical power, consequently. Moreover, the quadrotor is not operable beyond a certain wind and ground speed since the required rotational speed of rotors exceeds the speed limit of motors. The simulation framework can also predict the overall performance of a wingless eVTOL for UAM service. Because of its multiple rotors, rotor–rotor interference inevitably affects flight performance, mainly depending on inter-rotor distance and rotor rotation directions. In this case, there is an optimal rotation direction of the multiple rotors to be favorable in actual operation. In this study, it was proposed that a concept of rotor rotation direction that achieves the desirable flight performance in actual operation. The concept is called FRRA (Front rotors Retreating side and Rear rotors Advancing side). It was found that FRRA minimizes thrust loss due to rotor-rotor interference in high-speed forward flight. For a generic mission profile of UAM service, the rotation direction set by FRRA reduces the battery energy consumption of 7 % in comparison to the rotation direction of unfavorable rotor-rotor interference in operation.무익기형 전기 추진 수직 이착륙기는 택배 및 운송 서비스, 수색 및 구조, 국방, 농업, 구조물 점검과 같은 분야에서 대표적으로 이용되고 있는 항공기이다. 쿼드로터는 이러한 임무를 수행하기 위한 대표적인 소형 무익기형 전기 추진 수직 이착륙기이다. 대형 무익기형 전기 추진 수직 이착륙기는 효율적인 제자리 비행 성능, 높은 내풍성, 낮은 소음 공해와 같은 특징으로 인해 도심 내 운항 서비스를 위한 항공기로 활용되고 있다. 무익기형 전기 추진 수직 이착륙기의 여러 회전 날개는 안정된 비행을 유지하기 위해, 지속해서 회전 속도를 변화시킨다. 게다가, 모터의 회전 속도와 부하되는 토크 또한 지속적으로 변화한다. 그러므로 무익기형 전기 추진 수직 이착륙기의 비행 성능을 예측하기 위해, 제어기에서 각 회전 날개에 부여된 회전 속도에 따른 추력 및 토크를 해석해야 한다. 그리고 이러한 회전 날개의 회전 속도를 유지하기 위해 모터에 부하 되는 토크를 기반으로, 모터에서 요구되는 전력을 예측해야 한다. 본 논문에서는 제어, 회전 날개 공력, 전기 추진 시스템 해석이 포함된 다학제 해석 기반의 비행 시뮬레이션 프레임워크를 제시한다. 비행 시뮬레이션 프레임워크를 이용하여, 실제 운용 환경에서의 무익기형 전기 추진 수직 이착륙기 비행 성능을 예측할 수 있다. 비행 시뮬레이션 프레임워크를 활용하여 쿼드로터에 대해 외풍을 저항하기 위한 비행 전반적인 성능과 그에 따른 배터리 에너지 소모를 예측하였다. Von Kármán 외풍 난류와 Beaufort 외풍 강도 등급을 활용하여 남실바람, 건들바람, 된바람 환경에 대한 산업용 쿼드로터의 비행시간을 조사하였다. 그 결과, 동일한 외풍 환경일지라도 전진 비행 속도가 증가할수록 배터리 소요 에너지가 증가한다는 것을 밝혔다. 전진 비행 속도의 증가로 인해 쿼드로터에 유입되는 유속이 증가하여, 동체 항력, 위치 오차, 기수 내림 각도, 요구 기계 동력이 증가하였다. 그리고 특정 외풍 속도와 전진 속도 이상에서의 쿼드로터는 요구되는 회전 날개의 회전 속도가 모터의 회전 속도의 한계보다 높으므로 비행할 수 없었다. 또한, 비행 시뮬레이션 프레임워크를 활용하여 도심 운항 서비스용 무익기형 전기 추진 수직 이착륙기의 전반적인 비행 성능을 예측하였다. 여러 회전 날개의 특징으로 인해, 회전 날개 간 거리와 회전 날개의 회전 방향에 따라 회전 날개 간 간섭효과가 필연적으로 비행 성능에 영향을 미친다. 이때, 운용에 유리한 최적의 회전 날개 회전 방향이 존재한다. 본 논문에서 실제 운용에서 바람직한 비행 성능을 발휘하는 회전 날개의 회전 방향에 대한 개념인 FRRA를 제시하였다. FRRA는 전방 로터의 후퇴 측과 후방 로터의 전진 측이 일직선으로 정렬된 상태의 회전 방향이다. FRRA 회전 방향은 고속 전진 비행에서 회전 날개 간 간섭효과로 인한 추력 손실이 최소화된다. 회전 날개 간 간섭효과로 인해 불리한 비행 성능을 가지는 회전 방향 대비 FRRA 회전 방향은 도심 항공 교통 서비스에 대한 일반적인 운용에서 배터리 소모율이 7% 정도 감소하였다.Chapter 1. Introduction 1 1.1 Overview of wingless-type eVTOL 1 1.2 Previous studies about wingless-type eVTOL 6 1.2.1 Multidisciplinary analysis of control, aerodynamic, and EPS 6 1.2.2 External wind of wingless-type eVTOLs for small UAVs 9 1.2.3 Rotor-rotor interference of wingless-type eVTOLs for UAM 10 1.3 Motivation and scope of the dissertation 12 Chapter 2. Simulation Framework 16 2.1 Layout and analysis modules in simulation framework 16 2.1.1 Cascade PID control module 19 2.1.1 Aerodynamic analysis module 24 2.1.2 Electric propulsion system analysis module 30 2.1.3 6-DOF dynamics analysis module 33 2.2 Add-on modules for actual operation 37 2.2.1 Wind turbulence module 37 2.2.2 Rotor-rotor interference module 39 Chapter 3. Validation of Simulation Framework 44 3.1 Static thrust and torque on a single rotor test 44 3.2 Wind resistance test 46 3.3 Rotor-rotor interference of tandem rotors 52 3.4 Rotor-rotor interaction of a quadrotor in CFD 54 3.5 Investigation of rotor-rotor interference with respect to rotation directions in a quadrotor 58 Chapter 4. Flight Performance of Quadrotor under Wind Turbulence 65 4.1 Flight conditions 65 4.2 Wind turbulence conditions 66 4.3 Simulation results 69 Chapter 5. Flight Performance of Wingless-type eVTOL for UAM Service with Respect to the Rotor Rotation Directions 78 5.1 Hypothetical model of a wingless-type eVTOL for UAM service 78 5.2 Rotor rotation directions and aerodynamic performance 83 5.2.1 Hover flight 86 5.2.2 Forward flight at 100 km/h 88 5.2.3 Forward flight in the airspeed of 100 km/h with 30 yaw angle 93 5.3 Surrogate models including the rotor-rotor interaction effect 96 5.4 Simulation results 99 Chapter 6. Conclusion 112 6.1 Summary 112 6.2 Originalities of the dissertation 113 6.3 Future works 116 Appendix 118 References 127 국문 초록 144박

Hybrid active force control for fixed based rotorcraft

Disturbances are considered major challenges faced in the deployment of rotorcraft unmanned aerial vehicle (UAV) systems. Among different types of rotorcraft systems, the twin-rotor helicopter and quadrotor models are considered the most versatile flying machines nowadays due to their range of applications in the civilian and military sectors. However, these systems are multivariate and highly non-linear, making them difficult to be accurately controlled. Their performance could be further compromised when they are operated in the presence of disturbances or uncertainties. This dissertation presents an innovative hybrid control scheme for rotorcraft systems to improve disturbance rejection capability while maintaining system stability, based on a technique called active force control (AFC) via simulation and experimental works. A detailed dynamic model of each aerial system was derived based on the Euler–Lagrange and Newton-Euler methods, taking into account various assumptions and conditions. As a result of the derived models, a proportional-integral-derivative (PID) controller was designed to achieve the required altitude and attitude motions. Due to the PID's inability to reject applied disturbances, the AFC strategy was incorporated with the designed PID controller, to be known as the PID-AFC scheme. To estimate control parameters automatically, a number of artificial intelligence algorithms were employed in this study, namely the iterative learning algorithm and fuzzy logic. Intelligent rules of these AI algorithms were designed and embedded into the AFC loop, identified as intelligent active force control (IAFC)-based methods. This involved, PID-iterative learning active force control (PID-ILAFC) and PID-fuzzy logic active force control (PID-FLAFC) schemes. To test the performance and robustness of these proposed hybrid control systems, several disturbance models were introduced, namely the sinusoidal wave, pulsating, and Dryden wind gust model disturbances. Integral square error was selected as the index performance to compare between the proposed control schemes. In this study, the effectiveness of the PID-ILAFC strategy in connection with the body jerk performance was investigated in the presence of applied disturbance. In terms of experimental work, hardware-in-the-loop (HIL) experimental tests were conducted for a fixed-base rotorcraft UAV system to investigate how effective are the proposed hybrid PID-ILAFC schemes in disturbance rejection. Simulated results, in time domains, reveal the efficacy of the proposed hybrid IAFC-based control methods in the cancellation of different applied disturbances, while preserving the stability of the rotorcraft system, as compared to the conventional PID controller. In most of the cases, the simulated results show a reduction of more than 55% in settling time. In terms of body jerk performance, it was improved by around 65%, for twin-rotor helicopter system, and by a 45%, for quadrotor system. To achieve the best possible performance, results recommend using the full output signal produced by the AFC strategy according to the sensitivity analysis. The HIL experimental tests results demonstrate that the PID-ILAFC method can improve the disturbance rejection capability when compared to other control systems and show good agreement with the simulated counterpart. However, the selection of the appropriate learning parameters and initial conditions is viewed as a crucial step toward this improved performance

A Survey of path following control strategies for UAVs focused on quadrotors

The trajectory control problem, defined as making a vehicle follow a pre-established path in space, can be solved by means of trajectory tracking or path following. In the trajectory tracking problem a timed reference position is tracked. The path following approach removes any time dependence of the problem, resulting in many advantages on the control performance and design. An exhaustive review of path following algorithms applied to quadrotor vehicles has been carried out, the most relevant are studied in this paper. Then, four of these algorithms have been implemented and compared in a quadrotor simulation platform: Backstepping and Feedback Linearisation control-oriented algorithms and NLGL and Carrot-Chasing geometric algorithms.Peer ReviewedPostprint (author's final draft

Soft computing techniques applied to modelling and control of unmanned aerial vehicles

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Informática, leída el 18-06-2019El uso de UAVs (vehículos autónomos aéreos), y en concreto, de cuatrirrotores o drones, está creciendo de día en día, y se espera que se usen en multitud de aplicaciones: rescate, seguridad,lucha contra incendios, agricultura, inspección de estructuras, logística, … En la mayoría de estas tareas los cuatrirrotores deben actuar de una forma totalmente autónoma. Estas aplicaciones y las que están por llegar requieren el diseño de modelos y controladores eficientes y robustos para esos vehículos no pilotados. Sin embargo, esta no es una tarea sencilla debido, entre otras causas, a la aleatoriedad de los flujos de aire, la dinámica altamente no lineal del UAV, el acoplamiento entre sus variables internas, etc. Estos factores hacen que las técnicas de Soft Somputing (computación suave, una rama de la Inteligencia Artificial), y entre ellas concretamente las redes neuronales artificiales y la lógica fuzzy, sean un enfoque prometedor para la identificación y el control de estos sistemas...The use of UAVs (unmanned aerial vehicles), and specially quadrotors, is growing day by day, they are planned to be used in multitude of valuable applications: rescue, security, firefighting, agriculture, structure inspection, logistics, … In most of those tasks, the quadrotorsare expected to be fully autonomous. All these applications and those to come, demand the design of efficient and robust models and controllers for those autonomous vehicles. However, this is not an easy task due to, among others: the randomness of the airstreams, the high nonlinearity dynamics, the coupling between the internal variables, etc. These factors make the Soft Computing techniques (a field of the Artificial Intelligence), and among them specially the artificial neural networks and the fuzzy logic, a promising approach for the identification and control of these systems...Fac. de InformáticaTRUEunpu