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y UNMANNED AERIAL VEHICLES y FLIGHT MECHANICS y CONTROL SYSTEM y CONTROL ALGORITHM y CONTROL SYSTEM SAFETY y CONTROL SYSTEM FAILURE MODES y ADVANTAGES y REFERENCES
Reconfiguration
Reconfiguration in case of aerial vehicles means
that,the most critical functions,needed for vehicle controllability,can be taken over by another node of the system if the primary node fails.
Unmanned Aerial vehicle also known as UAS(Unmanned Aircraft System) UAS is the term introduced by the Federal Aviation Administration (FAA) & adopted by United States Department of Defense (DOD) & Civil Aviation Authority(UK) High altitude aircraft controlled by personnel on ground. Generally used for scientific/commercial research missions
1959
It also called Drones, Remotely Piloted Vehicle (RPV). Example:- RQ-7 SHADOW, RQ-5 HUNTER, RQ-11
RAVEN etc.
Autopilot.
It is a universal ,lightweight,and compact autopilot for small UAVs. It is an open project,held at the Department of Control Engineering,Faculty of Electrical Engineering of the Czech Technical University in Prague .
with th
AMA syst
frame,body frame. y xyz-Earth frame,XYZ-body frame y X,Y,and Z axes are sometimes called roll( ),pitch( ) and yaw( ) axes of the vehicle. y Conversion from one frame to another is given by rotation matrix R=R1.R2.R3
Control Algorit m
The vehicle control algorithm had been designed to
control a rotorcraft UAV. Five separate layers. Angular Rate Control Layer ( ARCL)- is responsible for the angular rates stabilization in the three vehicle axes. Attitude Control Layer( ACL)- serves for the attitude stabilization, Velocity Control Layer (VCL)-controls the vertical and horizontal velocities of the vehicle. Position Control Layer(PCL)-is used to stabilize the vehicle position in space. Trajectory Tracking Layer (TTL) is responsible for the vehicle guidance along a pre-set trajectory.
y An out-of-control UAV might cause property damage. y RAMA is designed so that for most of the failures, there
is an appropriate Failure Mode the system can engage, in order to preserve the critical functions for the sake of some high-level functionality loss.
Unit (SCU), whose complete failure would definitely lead to grave consequences.
MCC, DAM, or some/all of the sensors) would lead to the loss of some functionality, but would definitely preserve the semi-automatic or at least fully manual control of the vehicle.
put the Servo Control Unit (SCU) into the Manual Control Mode (MCM).
y In this mode, the SCU takes over the direct control of the
actuators and runs unaffected by the rest of the system. MCC or other nodes and actuates the control surfaces directly according the control stick positions.
system enter the Manual Control Mode (upon the pilot s command).
y Failure of any of the sensors is detected by the DAM. y A possible DAM restart after the watchdog reset would
only take about 50 ms, which is fast enough compared to the vehicle dynamics.
Role of MCC in NU
y The DAM failures are detected by the MCC. y An unexpected DAM reset is monitored and reported by
the MCC.
lead to the vehicle loss. y The system would enter the Critical Failure Mode (CFM). y SCU is equipped with a watchdog timer, ensuring a restart in the case of a microcontroller hang up. A full restart of the SCU is fast enough (it takes about 50 ms, much like the DAM restart).
data packets are stored in a buffer and sent off-line as soon as the data link is re-established.
Po er Failure Modes
y Currently, there are no Battery Failure Modes - both
batteries must be in good shape to keep the system running. y 2 batteries-ACB (Actuator Battery),AVB (Avionics Battery). y A re-design of the SCU is considered, then the SCU able to run from either battery, so it can drain power from the Actuator Battery (ACB), should the Avionics Battery (AVB) fail.
PID controllers at all levels of control. The controller parameters are as follows: k, i, d, m - Proportional, Integral, Derivative and FeedForward gains b, c - Reference weighting coefficients for proportional and derivative components w - Reference filter cut-off frequency n - D filter cut-off frequency h - Sampling period
ADVANTAGES
y Control systems that are fitted in UAVs has got strict
can be achieved due to the system reconfiguration and graceful degradation in case of a failure.
REFEREN ES
1. 2. 3. rej i a, rej l - st ec fi ra le tr l yste f r all s iEEE tr s cti s i stri l electr ics, v l. 58, . 3, arc 2 11 . i a, . r a, a . a zle , tr l syste f r a e aerial ve icles, i Pr c. 5th IEEE I t. f. I . I f., 2 7, . 455 46 . ettler, I e tific ti , M eli h r cteristics fMi i t re t rcr ft,v l. I 1-4 2 -7228-7. r trec t, e ete erla s: l ver ca e ic lis ers, 2 3 . ettler, . . isc ler, a . a a e, yste i e tificati eli fa s all-scale a e elic ter, J r l f the meric Helic pter S ciety, ct er 2 1. . avrilets, . ettler, a . er , li ear y a ic el f a s allsize acr atic elic ter, i Pr c. f the I f. O G i ce, N vi ti tr l, M tre l, , 2 1.
4.
5.
6. A. Bogdanov, E. Wan, and G. Harvey, SDRE flight control for X-Cell and RMax autonomous helicopters, in Proceedings of t e 43rd I Conference on Decision and Control, December 200 . 7. J. Cham, The Ph.D. Comics. http://www.phdcomics.com . The yamaha RMAX UAV website. http://www.yamahamotor.co.jp/global/industrial/sky/solution/rmax 9. Paparazzi - The free autopilot. http://paparazzi.enac.fr.