5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback
This paper describes 5-axis centralized feedback control system for a single-rotor helicopter. Optimal control theory is directly applied to 25-state Multiple-Input Multiple-Output (MIMO) analytical linear model of a small-scale unmanned helicopter without decoupling the motion dynamics. The linear...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2016-05-01
|
| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/82/837/82_15-00660/_pdf/-char/en |
| _version_ | 1811317865269166080 |
|---|---|
| author | Naomichi ISOMURA Takayuki SHIOKAWA Daigo FUJIWARA |
| author_facet | Naomichi ISOMURA Takayuki SHIOKAWA Daigo FUJIWARA |
| author_sort | Naomichi ISOMURA |
| collection | DOAJ |
| description | This paper describes 5-axis centralized feedback control system for a single-rotor helicopter. Optimal control theory is directly applied to 25-state Multiple-Input Multiple-Output (MIMO) analytical linear model of a small-scale unmanned helicopter without decoupling the motion dynamics. The linear Kalman filter is also designed for an estimation of the blade flapping and lagging angles and the down-wash which are utilized in the state feedback control law. In the comparison with the distributed control system using the Single-Input Single-Output (SISO) controller which is common approach for flight control, this full-axis centralized control system includes the effects of cross-coupling dynamics and enables a design for full control-axis at once in a short amount of time. Flight test with this method demonstrated a steady hover control performance through attitude, position, and main rotor speed. Simple tuning way of weighting matrix used in the quadratic cost function is also presented to deal with a difficult problem caused by a large number of design parameters or the undesirable coupled vibration. Stability analysis of the closed loop system using MIMO plant model reveals that MIMO controller provides greater and better balance stability margins for every control-axis than SISO controller does. In addition, a frequency characteristic analysis is conducted using MIMO plant models based on different flight conditions, which showed a good robustness of the MIMO controller toward modeling errors and also the effect of extra flight conditions on the robustness of each control-axis. |
| first_indexed | 2024-04-13T12:15:47Z |
| format | Article |
| id | doaj.art-220b658f92f447e695a468b8e0f60a48 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-13T12:15:47Z |
| publishDate | 2016-05-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-220b658f92f447e695a468b8e0f60a482022-12-22T02:47:22ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612016-05-018283715-0066015-0066010.1299/transjsme.15-00660transjsme5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedbackNaomichi ISOMURA0Takayuki SHIOKAWA1Daigo FUJIWARA2Chiba Univ. Graduate School of EngineeringChiba Univ. Graduate School of EngineeringChiba Univ. Graduate School of EngineeringThis paper describes 5-axis centralized feedback control system for a single-rotor helicopter. Optimal control theory is directly applied to 25-state Multiple-Input Multiple-Output (MIMO) analytical linear model of a small-scale unmanned helicopter without decoupling the motion dynamics. The linear Kalman filter is also designed for an estimation of the blade flapping and lagging angles and the down-wash which are utilized in the state feedback control law. In the comparison with the distributed control system using the Single-Input Single-Output (SISO) controller which is common approach for flight control, this full-axis centralized control system includes the effects of cross-coupling dynamics and enables a design for full control-axis at once in a short amount of time. Flight test with this method demonstrated a steady hover control performance through attitude, position, and main rotor speed. Simple tuning way of weighting matrix used in the quadratic cost function is also presented to deal with a difficult problem caused by a large number of design parameters or the undesirable coupled vibration. Stability analysis of the closed loop system using MIMO plant model reveals that MIMO controller provides greater and better balance stability margins for every control-axis than SISO controller does. In addition, a frequency characteristic analysis is conducted using MIMO plant models based on different flight conditions, which showed a good robustness of the MIMO controller toward modeling errors and also the effect of extra flight conditions on the robustness of each control-axis.https://www.jstage.jst.go.jp/article/transjsme/82/837/82_15-00660/_pdf/-char/ensingle-rotor helicopterflight controlmimo system5-axisoptimal state feedbackcentralized controltuning methodstability marginflight conditionrobustness |
| spellingShingle | Naomichi ISOMURA Takayuki SHIOKAWA Daigo FUJIWARA 5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback Nihon Kikai Gakkai ronbunshu single-rotor helicopter flight control mimo system 5-axis optimal state feedback centralized control tuning method stability margin flight condition robustness |
| title | 5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback |
| title_full | 5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback |
| title_fullStr | 5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback |
| title_full_unstemmed | 5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback |
| title_short | 5-axis centralized hover control and considerations to stability of single-rotor helicopters with optimal state feedback |
| title_sort | 5 axis centralized hover control and considerations to stability of single rotor helicopters with optimal state feedback |
| topic | single-rotor helicopter flight control mimo system 5-axis optimal state feedback centralized control tuning method stability margin flight condition robustness |
| url | https://www.jstage.jst.go.jp/article/transjsme/82/837/82_15-00660/_pdf/-char/en |
| work_keys_str_mv | AT naomichiisomura 5axiscentralizedhovercontrolandconsiderationstostabilityofsinglerotorhelicopterswithoptimalstatefeedback AT takayukishiokawa 5axiscentralizedhovercontrolandconsiderationstostabilityofsinglerotorhelicopterswithoptimalstatefeedback AT daigofujiwara 5axiscentralizedhovercontrolandconsiderationstostabilityofsinglerotorhelicopterswithoptimalstatefeedback |