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Longitudimal Automatic Landing in Adaptive PID Control Law Under Wind Shear Turbulence
Cheolkeun Ha,Sangwon Ahn 한국항공우주학회 2004 International Journal of Aeronautical and Space Sc Vol.5 No.1
??This paper deals with a problem of automatic landing guidance and control of the longitudinal airplane motion under the wind shear turbulence. Adaptive gain scheduled PID control law is proposed in this paper. Fuzzy logic is the main part of the adaptive PID controller as gain scheduler. To illustrate the successful application of the proposed control law to the automatic landing control problem, numerical simulation is carried out based on the longitudinal nonlinear airplane model excited by the wind shear turbulence. The simulation results show that the automatic landing maneuver is successfully achieved with the satisfactory performance and the gain adaptation of the control law is made adequately within the limited gains.
출력기반 적응제어기법을 이용한 틸트로터 항공기의 회전익 모드 설계연구
하철근(Cheolkeun Ha),임재형(Jae-hyoung Im) 한국항공우주학회 2010 韓國航空宇宙學會誌 Vol.38 No.3
본 논문에서는 틸트로터 항공기의 회전익 모드에 대한 자율비행 유도제어 알고리즘을 적응제어기법을 이용하여 설계하는 것이다. 이를 위해 우선 출력기반 근사적 궤환선형화 기법을 통하여 알고리즘의 내부루프를 구성하고 그로부터 발생하는 모델오차를 단일 은닉층-신경망을 적용하여 상쇄하였다. 그리고 리아푸노프 안정성 이론에 따른 적응제어 갱신법칙은 선형 관측기를 기반으로 설계하였다. 나아가 외부루프는 경로점 유도법칙으로부터 생성되는 궤적을 추종하도록 하였으며 특히 엄밀한 자동착륙 궤적추종 성능 향상을 위하여 방향각 및 비행경로각 시선유도법칙을 설계하였다. 틸트로터 비선형 모델 시뮬레이션 결과는 콜렉티브 입력에서 보이는 순간적인 작동기 포화현상 이외에는 만족할 만한 안정성과 추종성능을 보여 주고 있다. This paper deals with an autonomous flight controller design problem for a tilt-rotor aircraft in rotary-wing mode. The inner-loop algorithm is designed using the output-based approximate feedback linearization. The model error originated from the feedback linearization is cancelled within allowable tolerance by using single-hidden-layer neural network. According to Lyapunov direct stability theory, the adaptive update law is derived to run the neural network on-line, which is based on the linear observer dynamics. Moreover, the outer-loop algorithm is designed to track the trajectory generated from way-point guidance. Especially, heading and flight-path angle line-of-sight guidance are applied to the outer-loop to improve accuracy of the landing tracking performance. The 6-DOF nonlinear simulation shows that the overall performance of the flight control algorithm is satisfactory even though the collective input response shows instantaneous actuator saturation for a short time due to the lack of the neural network and the saturation protection logic in that loop.
모델 역변환을 이용한 종운동 자동착륙 유도제어 알고리즘 설계
하철근(Cheolkeun Ha),김병수(Byoungsoo Kim) 한국항공우주학회 2004 韓國航空宇宙學會誌 Vol.32 No.2
본 논문에서는 모델 역변환을 이용한 비선형 종운동 자동착륙 유도제어 로직을 설계하고자 한다. 비행체의 동역학 모델을 특이 섭동법을 이용하여, 시간스케일에 빠른 변수와 느린변수로 구분한다. 외부루프에서는 피치 각속도와 스로틀 입력의 의사제어 입력을 결정하고 내부루프에서는 엘리베이터 입력을 구한다. 최종적인 설계 로직은 6자유도 비행체 모델을 사용하여 평가한다. 본 시뮬레이션에서는 정상수평 비행상태에서 고도 1000(ft)와 속도 250(ft/sec)를 갖고 착륙접근을 시작한다고 가정한다. 시뮬레이션 결과는 지상 기지국으로부터 2.5(deg)로 윗방향으로 생성된 비행경로를 정확히 추종하여 만족스런 성능을 보여준다. 이 결과는 향후 무인비행체의 자동착륙 구현에 적용할 수 있다. This paper deals with a design problem of nonlinear longitudinal automatic landing guidance and control logic using dynamic model inversion. Using singular perturbation, the aircraft dynamics are separated into the sub-dynamics related with the fast time-scale variables and with the slow time-scale variables. In the outer-loop design, the pseudo-controls of throttle level and pitch rate are determined. Also the elevator input to the aircraft is determined in the inner-loop design. The final design logic is evaluated in 6 DOF simulation model of the associated aircraft. It is assumed in this simulation that the aircraft in straight level flight starts approaching at l,000ft of altitude and 250ft/sec of airspeed. The results show the satisfactory automatic landing capability of precise capture of the trajectory beam with 2.5 degree projected upward from the ground station. This logic designed in this paper is applicable to the automatic landing for UAV in the future.
퍼지 게인스케듈링을 적용한 자동착륙 유도제어 알고리즘 설계: 윈쉬어 환경에서의 착륙
하철근(Cheolkeun Ha),안상운(Sangwoon Ahn) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
This paper deals with the problem of autolanding for aircraft under windshear environment for which the landing trajectory is given. It is well known that the landing maneuver in windshear turbulence is very dangerous and hard for the pilot to control because windshear is unpredictable in when and where it happens and its aerodynamic characteristics are complicated. In order to accomplish satisfactory autolanding maneuver in this environment, we propose a gain-scheduled controller. The proposed controller consists of three parts: PID controller, called baseline controller, which is designed to satisfy requirements of stability and performance without considering windshear, gain scheduler based on fuzzy logic, and safety decision logic, which decides if the current autolanding maneuver needs to be aborted or not. The controller is applied to a 6-DOF simulation model of the associated airplane in order to illustrate the effectiveness of the proposed control algorithm. It is noted that a cross wind in the lateral direction is included to the simulation model. From the simulation results it is observed that the proposed gain scheduled controller shows superior performance than the case of controller without gain scheduling even in severe downburst and tailwind region of windshear. In addition, touchdown along centerline of the runway is more precise for the proposed controller than for the controller without gain scheduling in the cross wind and the tailwind.
하철근 울산대학교 2003 공학연구논문집 Vol.34 No.1
항공기는 고속 비행체이며 운동영역이 넓어 기동을 제어하는 것은 쉽지 않다. 특히 항공기의 착륙기동의 제어는 대표적인 예의 하나이다. 항공기는 착륙단계에서 횡운동 제어를 위해 Localizer Beam Guidance 시스템이 요구되어 진다. 본 연구의 목적은 항공기가 다양한 공항의 착륙 환경에서 조종사의 도움없이 자동착륙을 할 수 있도록 하는 횡운동 비행유도 제어 알고리즘을 설계하는 것이다. 그리고 실용적 결과를 얻기 위해 자동착륙 알고리즘을 고전제어기법을 통해 설계하였다. 이를 위해 활주로의 착륙시설은 결심고도 50(ft)이고 카테고리 Ⅲa급의 계기착륙시설(ILS)을 가지고 있다고 가정하였다. Control of an aircraft is not an easy problem because airplane flies fast and its flight envelope is quite broad. Especially the landing maneuver of airplane is one of the most difficult maneuvers. In the landing phase, airplane needs Localizer Beam Guidance system for safe and comfortable landing. The purpose of this study is to design the lateral guidance and control algorithm including Localizer Beam Guidance system. This design is carried out in Classical Root-Locus in order that the control algorithm designed is practical. It is supposed in this study that the airport has the facilities of ILS that support Category Ⅲa with decision height of 50ft.