Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system
Aiming at the realization of agile autonomous flight for the extension of the flying range of single-rotor helicopters in the limited flight time, the flight control system design and the control performance verification for the high-speed turn flight are conducted. To achieve the reference followin...
| Main Authors: | , |
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| Format: | Article |
| Language: | Japanese |
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The Japan Society of Mechanical Engineers
2017-10-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00087/_pdf/-char/en |
| _version_ | 1797989036246171648 |
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| author | Daigo FUJIWARA Takayuki SHIOKAWA |
| author_facet | Daigo FUJIWARA Takayuki SHIOKAWA |
| author_sort | Daigo FUJIWARA |
| collection | DOAJ |
| description | Aiming at the realization of agile autonomous flight for the extension of the flying range of single-rotor helicopters in the limited flight time, the flight control system design and the control performance verification for the high-speed turn flight are conducted. To achieve the reference following control for large attitude angles and the rotor thrust, the control system is composed of the main-rotor thrust and body torque centralized controller based on the MIMO (Multiple-Input, Multiple-Output) helicopter model including the blade motion dynamics, rotor speed proportional-integral controller, the attitude controller designed via the backstepping method based on the quaternion attitude model, and the guidance controller based on translational motion model. Simulation results show that the hovering and 10-m/s straight cruise flight followed by over 45-degree bank turn is feasible by using the proposed control system. In addition, flight tests have been conducted using the experimental small unmanned electric helicopter equipped with the flight control computer, and the high speed turn agile autonomous flight was successful in the real environment. |
| first_indexed | 2024-04-11T08:12:41Z |
| format | Article |
| id | doaj.art-8dbf96695be640ada585c9369429732a |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-11T08:12:41Z |
| publishDate | 2017-10-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-8dbf96695be640ada585c9369429732a2022-12-22T04:35:16ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-10-018385417-0008717-0008710.1299/transjsme.17-00087transjsmeDesign and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo systemDaigo FUJIWARA0Takayuki SHIOKAWA1Graduate School of Engineering, Chiba UniversityGraduate School of Engineering, Chiba UniversityAiming at the realization of agile autonomous flight for the extension of the flying range of single-rotor helicopters in the limited flight time, the flight control system design and the control performance verification for the high-speed turn flight are conducted. To achieve the reference following control for large attitude angles and the rotor thrust, the control system is composed of the main-rotor thrust and body torque centralized controller based on the MIMO (Multiple-Input, Multiple-Output) helicopter model including the blade motion dynamics, rotor speed proportional-integral controller, the attitude controller designed via the backstepping method based on the quaternion attitude model, and the guidance controller based on translational motion model. Simulation results show that the hovering and 10-m/s straight cruise flight followed by over 45-degree bank turn is feasible by using the proposed control system. In addition, flight tests have been conducted using the experimental small unmanned electric helicopter equipped with the flight control computer, and the high speed turn agile autonomous flight was successful in the real environment.https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00087/_pdf/-char/enhelicopterunmanned aerial vehicleagile flightthrust controlbacksteppingoptimal servo system |
| spellingShingle | Daigo FUJIWARA Takayuki SHIOKAWA Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system Nihon Kikai Gakkai ronbunshu helicopter unmanned aerial vehicle agile flight thrust control backstepping optimal servo system |
| title | Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system |
| title_full | Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system |
| title_fullStr | Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system |
| title_full_unstemmed | Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system |
| title_short | Design and experimental verifications of the high-speed turn flight control of single-rotor helicopters by the combination of the backstepping method and optimal servo system |
| title_sort | design and experimental verifications of the high speed turn flight control of single rotor helicopters by the combination of the backstepping method and optimal servo system |
| topic | helicopter unmanned aerial vehicle agile flight thrust control backstepping optimal servo system |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/854/83_17-00087/_pdf/-char/en |
| work_keys_str_mv | AT daigofujiwara designandexperimentalverificationsofthehighspeedturnflightcontrolofsinglerotorhelicoptersbythecombinationofthebacksteppingmethodandoptimalservosystem AT takayukishiokawa designandexperimentalverificationsofthehighspeedturnflightcontrolofsinglerotorhelicoptersbythecombinationofthebacksteppingmethodandoptimalservosystem |