http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Real-time hardware simulation of a small-scale helicopter dynamics
Budiyono, Agus,Putro, Idris E.,Yoon, K.,Raharja, Gilar B.,Kim, G.B. Emerald Group Publishing Limited 2010 Aircraft engineering and aerospace technology Vol.82 No.6
<B>Purpose</B> - The purpose of this paper is to develop a real-time simulation environment for the validation of controller for an autonomous small-scale helicopter. <B>Design/methodology/approach</B> - The real-time simulation platform is developed based on the nonlinear model of a series of small-scale helicopters. Dynamics of small-scale helicopter is analyzed through simulation. The controller is designed based on the extracted linear model. <B>Findings</B> - The model-based linear controller can be effectively designed and tested using real-time simulation platform. The hover controller is demonstrated to be robust against wind disturbance. <B>Research limitations/implications</B> - To use the real-time simulation environment to test and validate controllers for small-scale helicopters, basic helicopter parameters need to be measured, calculated or estimated. <B>Practical implications</B> - The real-time simulation environment can be used generically to test and validate controllers for small-scale helicopters. <B>Originality/value</B> - The paper presents the design and development of a low-cost hardware in the loop simulation environment using xPC target critical for validating controllers for small-scale helicopters.
Design and Development of Multi-rotorcraft-based Unmanned Prototypes of Personal Aerial Vehicle
Muljowidodo,Agus Budiyono 한국항공우주학회 2009 International Journal of Aeronautical and Space Sc Vol.10 No.2
The paper presents the design, development and testing activities of the multirotorcraft-based unmanned aerial vehicle at the Center for Unmanned System Studies, Institut Teknologi Bandung (ITB), Indonesia. The multi-rotor system was selected as the design stepping stone for future development of personal aerial vehicle prototypes. A step-by-step design program is conducted to study the technology building blocks and critical issues associated with the design, development and operation of personal aerial vehicles. A number of multi-rotor configurations have been investigated providing basic guidelines for developing a stable unmanned aerial platform. The benefit of the presently selected configuration is highlighted and some preliminary testing results are presented.
A TMO-based flight program of an unmanned helicopter
Kim, Jungguk,Budiyono, Agus,Kim, Dong-Min,Song, Ho-Geun,Kim, Doo-Hyun Emerald Group Publishing Limited 2011 Aircraft engineering and aerospace technology Vol.83 No.6
<B>Purpose</B> - The purpose of this paper is to introduce a new danger-aware Operational Flight Program (OFP) for the unmanned helicopter's auto-navigation based on the well-known time-triggered message-triggered object (TMO) model. <B>Design/methodology/approach</B> - In this design with the TMO, the danger-awareness means two things. First, an unmanned helicopter maneuvers on safe altitudes to avoid buildings or mountains when navigating to the target position. It is assumed that minimum safe altitudes are given on evenly spaced grids and on the center points of every four adjacent grids. A three-dimensional (3D) path-finding algorithm using this safe-altitude information is proposed. Second, a helicopter automatically avoids a zone with very high temperature caused by a fire. <B>Findings</B> - Since the auto-flight control system requires componentized real-time processing of sensors and controllers, the TMO model that has periodic and sporadic threads as members, has been used in designing the OFP. It has been found that using the TMO scheme is a way to construct a very flexible, well-componentized and timeliness-guaranteed OFP. <B>Practical implications</B> - As the RTOS, RT-eCos has been used. It was developed a few years ago based on the eCos3.0 to support the real-time thread model of the TMO scheme. To verify this navigation system, a hardware-in-the-loop simulation (HILS) system also has been developed. <B>Originality/value</B> - Designing an OFP by using the real-time object model TMO and the proposed 3D safe path finding algorithm is a whole new effective deadline-based approach. And the developed OFP can be used intensively in the phase of disaster response and recovery.
Control system design and testing for a small-scale autonomous helicopter
Kim, Seongpil,Budiyono, Agus,Lee, Jang-Ho,Kim, DooHyun,Yoon, Kwang Joon Emerald Group Publishing Limited 2010 Aircraft engineering and aerospace technology Vol.82 No.6
<B>Purpose</B> - The purpose of this paper is to conduct the design, development and testing of a controller for an autonomous small-scale helicopter. <B>Design/methodology/approach</B> - The hardware in the loop simulation (HILS) platform is developed based on the nonlinear model of JR Voyager G-260 small-scale helicopter. Autonomous controllers are verified using the HILS environment prior to flight experiments. <B>Findings</B> - The gains of the multi-loop cascaded control architecture can be effectively optimized within the HILS environment. Various autonomous flight operations are achieved and it is demonstrated that the prediction from the simulations is in a good agreement with the result from the flight test. <B>Research limitations/implications</B> - The synthesized controller is effective for the particular test-bed. For other small-scale helicopters (with different size and engine specifications), the controller gains must be tuned again. <B>Practical implications</B> - This work represents a practical control design and testing procedures for an autonomous small-scale helicopter flight control. The autonomous helicopter can be used for various missions ranging from film making, agriculture and volcanic surveillance to power line inspection. <B>Originality/value</B> - The research addresses the need for systematic design, development and testing of controller for a small-scale autonomous helicopter by utilizing HILS environment.
Design and Development of Multi-rotorcraft-based Unmanned Prototypes of Personal Aerial Vehicle
Muljowidodo, Muljowidodo,Budiyono, Agus The Korean Society for Aeronautical and Space Scie 2009 International Journal of Aeronautical and Space Sc Vol.10 No.2
The paper presents the design, development and testing activities of the multi-rotorcraft-based unmanned aerial vehicle at the Center for Unmanned System Studies, Institut Teknologi Bandung (ITB), Indonesia. The multi-rotor system was selected as the design stepping stone for future development of personal aerial vehicle prototypes. A step-by-step design program is conducted to study the technology building blocks and critical issues associated with the design, development and operation of personal aerial vehicles. A number of multi-rotor configurations have been investigated providing basic guidelines for developing a stable unmanned aerial platform. The benefit of the presently selected configuration is highlighted and some preliminary testing results are presented.
First Principle Approach to Modeling of Primitive Quad Rotor
Sudiyanto, Tata,Muljowidodo, Muljowidodo,Budiyono, Agus The Korean Society for Aeronautical and Space Scie 2009 International Journal of Aeronautical and Space Sc Vol.10 No.2
By the development of recent technology, a new variant of rotorcrafts having four rotors start drawing attention from aerial-robotics engineers more than before. Its potential spans from just being control device test bed to performing difficult task such as carrying surveillance device to unreachable places. In this regards, modeling a quad-rotor is significant in analyzing its dynamic behavior and in synthesizing control system for such a vehicle. This paper summarizes the modeling of a mini quad-rotor aerial vehicle. A first principle approach is considered for deriving the model based on Euler-Newton equations of motion. The result of the modeling is a simulation platform that is expected to acceptably predict the dynamic behavior of the quad-rotor in various flight conditions. Linear models associated with different flight condition can be extracted for the purpose of control synthesis.
Dharmayanda, Hardian Reza,Budiyono, Agus,Kang, Taesam Emerald Group Publishing Limited 2010 Aircraft engineering and aerospace technology Vol.82 No.6
<B>Purpose</B> - The purpose of this paper is to design a model-based robust controller for autonomous hovering of a small-scale helicopter. <B>Design/methodology/approach</B> - The model is developed using prediction error minimization (PEM) system identification method implemented to flight data. Based on the extracted linear model, an <I>H</I><SUB>8</SUB> controller is synthesized for robustness against parametric uncertainties and disturbances. <B>Findings</B> - The proposed techniques for modelling provide a linear state-space model which correlates well with the recorded flight data. The synthesized <I>H</I><SUB>8</SUB> controller demonstrates an effective performance which rejects both sinusoidal and step input disturbances. The controller enables the attitude angle follow the reference target while keeping the attitude rate constant about zero for hover flight condition. <B>Research limitations/implications</B> - The synthesized controller is effective for hovering and low-speed flight condition. <B>Practical implications</B> - This work provides an efficient hovering/low-speed autonomous helicopter flight control required in many civilian UAV applications such as aerial surveillance and photography. <B>Originality/value</B> - The paper addresses the challenges of controlling a small-scale helicopter during hover with inherent modelling uncertainties and disturbances.
First Principle Approach to Modeling of Primitive Quad Rotor
Tata sudiyanto,Muljowidodo,Agus Budiyono 한국항공우주학회 2009 International Journal of Aeronautical and Space Sc Vol.10 No.2
By the development of recent technology, a new variant of rotorcrafts having four rotors start drawing attention from aerial-robotics engineers more than before. Its potential spans from just being control device test bed to performing difficult task such as carrying surveillance device to unreachable places. In this regards, modeling a quad-rotor is significant in analyzing its dynamic behavior and in synthesizing control system for such a vehicle. This paper summarizes the modeling of a mini quad-rotor aerial vehicle. A first principle approach is considered for deriving the model based on Euler-Newton equations of motion. The result of the modeling is a simulation platform that is expected to acceptably predict the dynamic behavior of the quad-rotor in various flight conditions. Linear models associated with different flight condition can be extracted for the purpose of control synthesis.