Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters
Flight control system with position compensation applicable to trajectory tracking of agile maneuvers that require an attitude rotation and a reverse of main rotor thrust of single-rotor helicopters is proposed. The outer loop position compensator calculates the desired attitude and rotor thrust whi...
| Main Authors: | , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2017-05-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00013/_pdf/-char/en |
| _version_ | 1811221130597367808 |
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| author | Naomichi ISOMURA Daigo FUJIWARA |
| author_facet | Naomichi ISOMURA Daigo FUJIWARA |
| author_sort | Naomichi ISOMURA |
| collection | DOAJ |
| description | Flight control system with position compensation applicable to trajectory tracking of agile maneuvers that require an attitude rotation and a reverse of main rotor thrust of single-rotor helicopters is proposed. The outer loop position compensator calculates the desired attitude and rotor thrust which reduce position tracking error by utilizing a kinematics equation established near the reference trajectory. The desired attitude is set using the magnitude of the rotor thrust in the reference trajectory, which enables continuous position feedback compensation based on the fact that the relationship between rotational and translational motion becomes independent as the rotor thrust decrease. To achieve high-bandwidth control of lateral-longitudinal angular rates in the inner loop, two-degree-of-freedom servo system is designed using a linear model with blade flapping motion dynamics. The control system is applied to autonomous control of flip maneuvers which include transition between upright and inverted hovering. The reference trajectory of a flip maneuver is generated as a parameterized simple equation which can be adjusted to the helicopter ability. Simulation and outdoor flight tests of the autonomous flip maneuvers demonstrated the capability of position feedback compensation that reduces position tracking error during out-of-trimmed flight state. This control technique can be extended to various agile flights for quick execution of flight tasks or recovery maneuvers from dangerous state. |
| first_indexed | 2024-04-12T07:53:59Z |
| format | Article |
| id | doaj.art-00c4a049e88c44f9b61def351d62aea4 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-12T07:53:59Z |
| publishDate | 2017-05-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-00c4a049e88c44f9b61def351d62aea42022-12-22T03:41:32ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-05-018385417-0001317-0001310.1299/transjsme.17-00013transjsmePosition compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicoptersNaomichi ISOMURA0Daigo FUJIWARA1Graduate School of Engineering, Chiba UniversityGraduate School of Engineering, Chiba UniversityFlight control system with position compensation applicable to trajectory tracking of agile maneuvers that require an attitude rotation and a reverse of main rotor thrust of single-rotor helicopters is proposed. The outer loop position compensator calculates the desired attitude and rotor thrust which reduce position tracking error by utilizing a kinematics equation established near the reference trajectory. The desired attitude is set using the magnitude of the rotor thrust in the reference trajectory, which enables continuous position feedback compensation based on the fact that the relationship between rotational and translational motion becomes independent as the rotor thrust decrease. To achieve high-bandwidth control of lateral-longitudinal angular rates in the inner loop, two-degree-of-freedom servo system is designed using a linear model with blade flapping motion dynamics. The control system is applied to autonomous control of flip maneuvers which include transition between upright and inverted hovering. The reference trajectory of a flip maneuver is generated as a parameterized simple equation which can be adjusted to the helicopter ability. Simulation and outdoor flight tests of the autonomous flip maneuvers demonstrated the capability of position feedback compensation that reduces position tracking error during out-of-trimmed flight state. This control technique can be extended to various agile flights for quick execution of flight tasks or recovery maneuvers from dangerous state.https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00013/_pdf/-char/enunmanned helicopteragile maneuverposition compensationrotational/translational motion independenceout-of-trimmed flight |
| spellingShingle | Naomichi ISOMURA Daigo FUJIWARA Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters Nihon Kikai Gakkai ronbunshu unmanned helicopter agile maneuver position compensation rotational/translational motion independence out-of-trimmed flight |
| title | Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters |
| title_full | Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters |
| title_fullStr | Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters |
| title_full_unstemmed | Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters |
| title_short | Position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters |
| title_sort | position compensation in all attitude of flying objects and application to flip maneuver control of small unmanned helicopters |
| topic | unmanned helicopter agile maneuver position compensation rotational/translational motion independence out-of-trimmed flight |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00013/_pdf/-char/en |
| work_keys_str_mv | AT naomichiisomura positioncompensationinallattitudeofflyingobjectsandapplicationtoflipmaneuvercontrolofsmallunmannedhelicopters AT daigofujiwara positioncompensationinallattitudeofflyingobjectsandapplicationtoflipmaneuvercontrolofsmallunmannedhelicopters |