http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Design of a PID Flight Control System for an MAV having a Side-force Fin
Yoshimasa Ochi,Hiroyuki Kondo,Nobuhiro Yokoyama,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
This paper describes dynamic properties and a night control system of an MAY (mini aerial vehicle) hal ing a side-force fin. We are developing a nonlinear model of the MAY through flight/wind tunnel experiments and CFD anal) sis. A linear model is obtained from the current nonlinear model. Using the linear model, we have designed a !light control system (FCS) that controls the altitude, forward speed, roll angle. and heading angle with thrust. elevator. aileron. and the sideforce fin. respectively. The side-force fin produces direct side-force that achieves skid-to-turn without bank in cooperation with the aileron. The FCS is designed as a PID control system, whose gains are determined based on the integral-type optimal servo, Although the design method has theoretically not been established, it provides PID gains via a simple design procedure and its usefulness and effectiveness have been proved through various design examples, Also in this study, computer simulation and analysis demonstrate how the FCS works.
An Output Feedback Flight Control based on Integral-type Optimal Servomechanism
Hiroyuki Kondo,Yoshimasa Ochi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a design method of an output and/or error signal feedback controller for a single-input-single-output plant based on integral-type optimal servomechanism. The obtained closed-loop controlsystem has as sufficient stability margins and good control performance as a state feedback one with an observer.Particularly the resultant controller for a second-order delay plant becomes exactly a typical I-PD (proportional-derivative preceded integral) one. This feature motivated us to reduce the order of an original plant tosecond based on the ??-gap metric, and then design an I-PD controller. Simulation studies demonstrate the effectiveness and usefulness of the proposed method.
Identification of Nonlinear Dynamics of Aircraft via Nonlinear Programming
Nobuhiro Yokoyama,Yoshimasa Ochi,Masahito Watanabe 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
This paper describes a new method for the identification of aircraft dynamics which is expressed by nonlinear state and observation equations with unknown parameters. The developed method adopts a nonlinear programming technique incorporated with the direct collocation, and accounts for both process and measurement noise through maximizing a likelihood. One of the advantages of the developed method is its stable convergence due to circumventing the recursive integration of state equations. The other advantage is its flexibility to handle wide-range of problems without software modifications. The developed method even covers the problem including equality or inequality conditions on unknown parameters and those with multiple flight test data. The effectiveness of the developed method is demonstrated by applying it to a simple benchmark problem to identify an unknown parameter of a reentry body and to a problem to identify the nonlinear dynamics of a paraglider based on multiple flight test data.
Linear Dynamics and Analysis of a Powered Paraglider(PPG)
Atsuro Nishiyama,Masahito Watanabe,Yoshimasa Ochi 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
This paper presents a linear dynamic model and analysis of a powered paraglider (PPG). The PPG is composed of a canopy and a payload with a propelling unit. The canopy is connected with the payload at two points. The authors have derived linearized dynamic equations of the PPG from an 8 degrees of freedom (DOF) nonlinear model which was also derived by the authers. lime responses of the linear model have been computed using the model and results are compared with those of the nonlinear model. Dynamic characteristics of the PPG as a linear system have also been analyzed using the linearized model. In addition, state transformation between the canopy states and the payload ones also presented.
VTOL mode controller for a mini-UAV having a side-force fin
Shinichi Hashimoto,Nobuhiro Yokoyama,Yoshimasa Ochi,Hideo Adachi,Natsuki Kondo,Toshiaki Yamashita,Takanari Arai 한국항공우주학회 2008 한국항공우주학회 학술발표회 논문집 Vol.- No.-
A UAV (Unmanned Aerial Vehicle) currently developed by the authors is a kind of flying wing. One of features of the UAV is its capability of vertical takeoff and landing as a tail-sitter. Thus, it is possible to operate it flexibly by reducing the space restrictions on the takeoff and landing. In this work, we designed a gain-scheduled controller for the vertical takeoff and landing, which can vary the control gain in accordance with the varying state of the vehicle. We applied a method that solves Lyapunov stability conditions on all the design points simultaneously by using linear matrix inequalities (LMI). The effectiveness of the controller is demonstrated through the numerical simulations.