Height Control based on Model Identification for a Small-scale Unmanned Helicopter
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- 英文论文题名：Height Control based on Model Identification for a Small-scale Unmanned Helicopter
- 论文作者：Hu Yongqiang
- 英文论文作者：Hu Yongqiang ; Department of mechanical and electrical engineering ; Guidaojiaotong Polytechnic Institute
- 年：2017
- 作者机构：Department of mechanical and electrical engineering,Guidaojiaotong Polytechnic Institute;
- 英文论文关键词：Model helicopter ; Fly-control system ; Model identification ; Height control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V249.1;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：4
- 文件大小：234k
- 原文格式：D
- 会议级别：全国
摘要
Small-size unmanned helicopter,with its unique characteristics of hovering,flying sideways and backwards,is more superior in maneuverability and flexibility compared with fixed-wing aircraft,so it can be widely used in the military and civilian fields.This paper takes the Tiger-90 small-size unmanned helicopter as research object,developing a control system that is based on ARM,has provided a base for further research.Firstly,the experimental platform of small-scale helicopter is build according to the structure characteristics of helicopter which is selected.After that,the mathematical model of the vertical channel is identified,based on the flight data of the experimental platform.Finally,according to the established model in the vertical channel,a height controller is derived,using the PID control rule.
Small-size unmanned helicopter,with its unique characteristics of hovering,flying sideways and backwards,is more superior in maneuverability and flexibility compared with fixed-wing aircraft,so it can be widely used in the military and civilian fields.This paper takes the Tiger-90 small-size unmanned helicopter as research object,developing a control system that is based on ARM,has provided a base for further research.Firstly,the experimental platform of small-scale helicopter is build according to the structure characteristics of helicopter which is selected.After that,the mathematical model of the vertical channel is identified,based on the flight data of the experimental platform.Finally,according to the established model in the vertical channel,a height controller is derived,using the PID control rule.
Small-size unmanned helicopter,with its unique characteristics of hovering,flying sideways and backwards,is more superior in maneuverability and flexibility compared with fixed-wing aircraft,so it can be widely used in the military and civilian fields.This paper takes the Tiger-90 small-size unmanned helicopter as research object,developing a control system that is based on ARM,has provided a base for further research.Firstly,the experimental platform of small-scale helicopter is build according to the structure characteristics of helicopter which is selected.After that,the mathematical model of the vertical channel is identified,based on the flight data of the experimental platform.Finally,according to the established model in the vertical channel,a height controller is derived,using the PID control rule.
引文
[1]Jos6 R.Azinheirat,Patrick Rives,Jose R.H.Carvalho,Visual Servo Control for the Hovering of an Outdoor Robotic Airship,Proceedings of the 2002 IEEE International Conference on Robotics 8 Automation Washington,DCMay 2002.
[2]Bernard Espiau,Francois Chaumette,Patrick Rives,A New Approach to Visual Servoing in Robotics,IEEE Transactions on Robotics and Automation,Vol.8,No.3,June 1992.
[3]A.Budiyono,Design and Development of Autonomous Uninhabited Air Vehicles at ITB:Challenges and Progress Status,Paper presented at the Aerospace Indonesia Meeting,Bandung,Indonesia 27 July 2005
[4]Robert Mahony,Tarek Hamel,Image-Based Visual Servo Control of Aerial Robotic Systems Using Linear Image Features,IEEE TRANSACTIONS ON ROBOTICS,VOL.21,NO.2,APRIL 2005.pp227-239.
[5]T.John Koo,Shankar Sastry,Output Tracking Control Design of a Helicopter Model Based on Approximate Linearization,Proceedings of the 37th IEEEE Conference on Decision&Control.Tampa,Florida Usa,December 1998,pp3635-3640.
[6]Alberto Isidori,Lorenzo Marconi,Robust Nonlinear Motion Control of a Helicopter,Proceedings of the 40th IEEEE Conference on Decision&Control.Orlando Florida Usa,December 2001,pp4586-4591.
[7]S.Saripalli,J.F.Montgomery,and G.S.Sukhatme.Visually guided landing of an unmanned aerial vehicle,.IEEE Transactions on Robotics and Automation,vol.19,pp.371.381,June 2003.
[8]Kim.H.J,Shim.D.H,Sastry S.Flying robots:sensing,control,and decision making.International Conference on Robotics and Automation,Washington D.C.U.S.A.2002:11-15.
[9]Shim.D.H,Kim.H.J,Sastry S.A flight control system for aerial robots:algorithms and experiments.IFAC Control Engineering Practice,2003.
[10]V.Gavrilets,B.Mettler,E.Feron.Nonlinear model for a small-size acrobatic helicopter.Proceedings of the AIAA Guidance,Navigation,and Control Conference.Montreal,Canada,2001.2001-4333.
[11]NASA Ames Research Center,Moffet Field,CA.Comprehensive Identification from Frequency Responses:an interactive facility for system identification and verification.2000.
[12]R.T.Chen.A Simplified rotor system mathematical model for piloted flight dynamics simulation.Technical model for piloted flight dynamics simulation.Technical Memorandum78575,NASA,1979.
[2]Bernard Espiau,Francois Chaumette,Patrick Rives,A New Approach to Visual Servoing in Robotics,IEEE Transactions on Robotics and Automation,Vol.8,No.3,June 1992.
[3]A.Budiyono,Design and Development of Autonomous Uninhabited Air Vehicles at ITB:Challenges and Progress Status,Paper presented at the Aerospace Indonesia Meeting,Bandung,Indonesia 27 July 2005
[4]Robert Mahony,Tarek Hamel,Image-Based Visual Servo Control of Aerial Robotic Systems Using Linear Image Features,IEEE TRANSACTIONS ON ROBOTICS,VOL.21,NO.2,APRIL 2005.pp227-239.
[5]T.John Koo,Shankar Sastry,Output Tracking Control Design of a Helicopter Model Based on Approximate Linearization,Proceedings of the 37th IEEEE Conference on Decision&Control.Tampa,Florida Usa,December 1998,pp3635-3640.
[6]Alberto Isidori,Lorenzo Marconi,Robust Nonlinear Motion Control of a Helicopter,Proceedings of the 40th IEEEE Conference on Decision&Control.Orlando Florida Usa,December 2001,pp4586-4591.
[7]S.Saripalli,J.F.Montgomery,and G.S.Sukhatme.Visually guided landing of an unmanned aerial vehicle,.IEEE Transactions on Robotics and Automation,vol.19,pp.371.381,June 2003.
[8]Kim.H.J,Shim.D.H,Sastry S.Flying robots:sensing,control,and decision making.International Conference on Robotics and Automation,Washington D.C.U.S.A.2002:11-15.
[9]Shim.D.H,Kim.H.J,Sastry S.A flight control system for aerial robots:algorithms and experiments.IFAC Control Engineering Practice,2003.
[10]V.Gavrilets,B.Mettler,E.Feron.Nonlinear model for a small-size acrobatic helicopter.Proceedings of the AIAA Guidance,Navigation,and Control Conference.Montreal,Canada,2001.2001-4333.
[11]NASA Ames Research Center,Moffet Field,CA.Comprehensive Identification from Frequency Responses:an interactive facility for system identification and verification.2000.
[12]R.T.Chen.A Simplified rotor system mathematical model for piloted flight dynamics simulation.Technical model for piloted flight dynamics simulation.Technical Memorandum78575,NASA,1979.