Viewgraphs on current projects in fuzzy control are presented. Three projects on helicopter flight control are discussed. The projects are (1) radio control by oral instructions; (2) automatic autorotation entry in engine failure; and (3) unmanned helicopter for sea rescue

Sugeno, Michio

English

NASA Technical Reports Server

6111RG€@NT PROJECTS I:M FUZZY C8NTRQL 
by 
Michio Sugeno 
Tokyo Institute of Technology 
Fuzzy Logic Workshop 
14 November 1990 
https://ntrs.nasa.gov/search.jsp?R=19930022253 2020-03-17T05:10:11+00:00Z
Projects of Hehi copter FQi +t Controk 
o Rabio Control by Or& Instructions 
(FI89 - N Q ~ )  
TO kyo Institute of T e ~ h n o b ~ ~  
w 
surported by Science ~d 
TeAnobry Apncy 
0Automat i c  Autorotation Ent ty 
K~mosaLi Hev I n d u ~ t ~ y  / TIT 
supqovted b y  STA 
~ U ~ l n ~ d  Hacopter *r Sea Rescue 
TOKIMEC /TIT' - 
supported by Ministry 05 • 
Motion of Helicopter 
measured vari abLes : x , y , ii. 
Move 
C 
Controk of Movements 
Cont roL 
<-rn fi~t 09 d h  . . .. Idly  
( c o h t i v e  . pitch - b& 
pi tchina 
<-D main I % v o ~ ~ ~ w  
( P+t~d;naQ stick) • 
uoPe;m* l,eft/right <- wain rotortwokution Sur5aoe 
' -  
CPated stick) 
#bwilr* 
nose direction + IliSt 6f.Wdr 
[Iloft / ~ i t h t )  (directiod p a )  
a 
Remote ContvoL 09 Heeicopter 
a 
a 
Hover 
Lend a 
l 
a 
69 
! 
- - 
Automatic Autorotation Entry 
Entine hi lure 
1 
Unmanned Hevicopter for Sea Rescue a 
, .. 
w& s,,, 
a 
video information 
'. 
0 
d 
Firing Ship 
Lin~uistic Rules for HovevinO 
4 
1) I+ tke body r o b ,  then control 
the b+evaL in reverse 
I 2) 15 the. body pikhes, then controt 
the Jlong. in reverse 
9 If the nose turns, then control 
the pedok in reverse 
4) If the body moves sideways, then 0 
i 
i C O ~ ~ P O Q  the lateyak in reverse 
5) I j  the body moves back md forth, 
i then controll the Po+. in 
reverse 
- 
2 
IS 
6)  If the body moves up and down, 
then cantrojl the ~ Q e e c t i v e  
is reverse a 
72 
3 
a 
d 
• Fuzzy Control Rubs +or Hoverin% 
(Pongi. stick control) 
1) P itch is PO Qongi. i s  NE 
2) + NE * *r PO 
iMisPO + i o n q ; .  ; s N E  3) P 
4) 4 NE - 4 PO ~ 
5) z i s  PO + L q i .  i s  NE 
6 )  9 NE * o PO 
bx 7) .,lS PO + long.  isNE 
8) e NE + + a PO 
73 
Hovering withoat ControB 
ROLL 
PITCH 
YAW 
sec 
120 sec 
-. 
Hovevinf with Fuzzy Controt 
l o', 
PITCH 
ROLL 
t 0'- 
YAW r 
a 
'Oh!( 
lOOm 
Y 
J 
I la sec 
L 
YAW 
I 0.- 
L 
Forward Fly;? Controll in Low Sped a 
a 
. -  . 
1 
a 
76 
? 
L 
ROLL r 120 sec 
L 
10'- 
PITCH I . . 
- 
I 0'- 
- 
10h- 
X 
- 
100mL 
- 
lOOOm z 
Smls 
ic 
rds Q 
. 
- 
1 
- 
tm/s- 
i 120 sec 
- 
Auto rotation Entry by Fuzzy ControU
(keep rotation speed of main, rotor)
Engine Failure
Y
z
0
2SOD
*
DOTATION' %SPEED ,
PITCH t
ROLL
YAW
LATERAL
PEPAL
o
360*
•
'
•^t
'
S;OLLECTIVE
*]
77


Current projects in Fuzzy Control

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