Design of unmanned aerial systems|RISS 상세보기

목차 (Table of Contents)

CONTENTS
Preface = xix
Acronyms = xxv
Nomenclature = xxix
About the Companion Website = xxxvii

CONTENTS
Preface = xix
Acronyms = xxv
Nomenclature = xxix
About the Companion Website = xxxvii
1 Design Fundamentals = 1
1.1 Introduction = 2
1.2 UAV Classifications = 5
1.3 Review of a Few Successful UAVs = 8
1.3.1 Global Hawk = 8
1.3.2 RQ-1A Predator = 9
1.3.3 MQ-9 Predator B Reaper = 9
1.3.4 RQ-5A Hunter = 10
1.3.5 RQ-7 Shadow 200 = 10
1.3.6 RQ-2A Pioneer = 11
1.3.7 RQ-170 Sentinel = 11
1.3.8 X-45A UCAV = 12
1.3.9 Epson Micro-flying Robot = 12
1.4 Design Project Planning = 12
1.5 Decision Making = 13
1.6 Design Criteria, Objectives, and Priorities = 15
1.7 Feasibility Analysis = 17
1.8 Design Groups = 17
1.9 Design Process = 18
1.10 Systems Engineering Approach = 19
1.11 UAV Conceptual Design = 21
1.12 UAV Preliminary Design = 27
1.13 UAV Detail Design = 28
1.14 Design Review, Evaluation, Feedback = 30
1.15 UAV Design Steps = 30
Questions = 32
2 Preliminary Design = 35
2.1 Introduction = 35
2.2 Maximum Takeoff Weight Estimation = 36
2.3 Weight Buildup = 36
2.4 Payload Weight = 37
2.5 Autopilot Weight = 37
2.6 Fuel Weight = 39
2.7 Battery Weight = 43
2.8 Empty Weight = 47
2.9 Wing and Engine Sizing = 48
2.10 Quadcopter Configuration = 52
Questions = 60
Problems = 61
3 Design Disciplines = 65
3.1 Introduction = 66
3.2 Aerodynamic Design = 67
3.3 Structural Design = 69
3.4 Propulsion System Design = 71
3.4.1 General Design Guidelines = 72
3.4.2 Electric Engines = 74
3.5 Landing Gear Design = 75
3.6 Mechanical and Power Transmission Systems Design = 78
3.7 Electric Systems = 80
3.7.1 Fundamentals = 80
3.7.2 Safety Recommendations = 81
3.7.3 Wiring Diagrams = 82
3.7.4 Wire Insulation and Shielding = 83
3.7.5 Batteries = 83
3.7.6 Generator = 84
3.8 Control Surfaces Design = 85
3.9 Safety Analysis = 90
3.9.1 Design Lessons Learned = 91
3.9.2 Likely Failure Modes of Sub-Systems Componets = 93
3.10 Installation Guidelines = 95
3.10.1 GPS／Compass = 95
3.10.2 IMU = 95
3.10.3 Electric Motor = 96
Questions = 96
Design Questions = 97
Problems = 99
4 Aerodynamic Design = 101
4.1 Introduction = 102
4.2 Fundamentals of Aerodynamics = 103
4.3 Wing Design = 104
4.3.1 Wing Design Procedure = 105
4.3.2 Airfoil Selection／Design = 106
4.3.3 Wing Design Technique = 108
4.3.4 Wing Design Steps = 113
4.4 Tail Design = 113
4.4.1 Design Procedure = 113
4.4.2 Tail Configuration = 115
4.4.3 Horizontal Tail Design Technique = 116
4.4.4 Tail Planform Area and Tail Arm = 117
4.4.5 Tail Airfoil Section = 118
4.4.6 Tail Incidence = 119
4.4.7 Other Horizontal Tail Parameters = 119
4.5 Vertical Tail Design = 119
4.5.1 Parameters = 119
4.5.2 Vertical Tail Location = 120
4.5.3 Vertical Tai Moment Arm (lvt) = 120
4.5.4 Planform Area (Sv) = 120
4.5.5 Incidence (iv) = 121
4.5.6 Other Vertical Tail Paramenters = 122
4.5.7 Vertical Tail Design Technique = 122
4.6 Fuselage Design = 123
4.6.1 Fuselage Design Fundamentals = 123
4.6.2 Fuselage Aerodynamics = 123
4.6.3 Autopilot Compartment = 126
4.6.4 Optimum Length-to-Diameter Ratio = 126
4.6.5 Fuselage Aerodynamics = 127
4.6.6 Lofting = 128
4.6.7 Fuselage Design Steps = 129
4.7 Antenna = 130
4.7.1 Fixed Antenna = 130
4.7.2 Radar Dish Antenna = 131
4.7.3 Satellite Communication Antenna = 131
4.7.4 Antenna Design／Installation = 132
4.8 Aerodynamic Design of Quadcopters = 132
4.9 Aerodynamic Design Guidelines = 133
Questions = 134
Problems = 136
5 Fundamentals of Autopilot Design = 141
5.1 Introduction = 142
5.1.1 Autopilot and Human Operator = 143
5.1.2 Primary Subsystems of an Autopilot = 144
5.1.3 Autopilot Design or Selection = 145
5.2 Dynamic Modeling = 146
5.2.1 Modeling Technique = 146
5.2.2 Fundamental Model = 148
5.2.3 Transfer Function = 150
5.2.4 State-Space Representation = 152
5.3 Aerodynamic Forces and Moments = 153
5.3.1 Forces and Moments Equations = 153
5.3.2 Stability and Control Derivatives = 154
5.3.3 Non-kdimensional Stability and Control Derivatives = 154
5.3.4 Dimensional Stability and Control Derivatives = 155
5.3.5 Coupling Stability Derivatives = 156
5.4 Simplification Techniques of Dynamic Models = 157
5.4.1 Linearization = 157
5.4.2 Decoupling = 159
5.5 Fixed-Wing UAV Dynamic Models = 161
5.5.1 Nonlinear Fully Coupled Equations of Motion = 162
5.5.2 Nonlinear Semi-Coupled Equations of Motion = 162
5.5.3 Nonlinear Decoupled Equations of Motion = 163
5.5.4 Linear Coupled Equations of Motion = 163
5.5.5 Linear Decoupled Equations of Motion = 165
5.5.6 Reformulated (Nonlinear Semi-Coupled) Equations of Motion = 167
5.5.7 Un-powered Gliding Equations of Motion = 168
5.6 Dynamic Model Approximation = 169
5.6.1 Pure Pitching Motion Approximation = 169
5.6.2 Pure Rolling Motion Approximation = 169
5.6.3 Pure Yawing Motion Approximation = 169
5.6.4 Longitudinal Oscillatory Modes Approximation = 170
5.7 Quadcopter (Rotary-Wing) Dynamic Model = 170
5.7.1 Overall Thrust of Four Motors = 170
5.7.2 Dynamic Model = 174
5.7.3 Simplified Dynamic Model = 175
5.8 Autopilot Categories = 176
5.8.1 Stability Augmentation = 176
5.8.2 Hold Functions = 178
5.8.3 Navigation Functions = 180
5.8.4 Command Augmentation Systems = 180
5.9 Flight Simulation - Numerical Methods = 181
5.9.1 Numerical Integration = 182
5.9.2 Matlab／Simulink = 182
5.9.3 Hardware-In-the-Loop Simulation = 184
5.10 Flying Qualities for UAVs = 185
5.10.1 Fundamentals = 185
5.10.2 Classes, Categories, and Acceptability Levels = 186
5.10.3 Force Restrietions = 186
5.11 Autopilot Design Process = 187
Questions = 188
Problems = 190
6 Control System Design = 195
6.1 Introduction = 196
6.2 Fundamentals of Control Systems = 197
6.2.1 Elements, Concepts and Definitions = 197
6.2.2 Root Locus Design Technique = 199
6.2.3 Frequency Domain Design Technique = 200
6.2.4 Controller Configurations and Control Architectures = 201
6.3 Servo／Actuator = 203
6.3.1 Terminology = 203
6.3.2 Electric Motors = 204
6.3.3 Hydraulic Actuator = 206
6.3.4 Delay = 206
6.3.5 Saturation = 207
6.4 Flight Control Requirements = 207
6.4.1 Longitudinal Control Requirements = 207
6.4.2 Roll Control Requirements = 208
6.4.3 Directional Control Requirements = 209
6.5 Control Modes = 209
6.5.1 Coupled Control Modes = 210
6.5.2 Cruise Control = 212
6.5.3 Pitch-Attitude Hold = 213
6.5.4 Wing Leveler = 214
6.5.5 Yaw Damper = 215
6.5.6 Auto-Landing = 217
6.5.7 Turn Coordinator = 218
6.6 Controller Design = 223
6.6.1 PID Controller = 223
6.6.2 Optimal Control - LQR = 224
6.6.3 Gain Scheduling = 229
6.6.4 Robust Control = 231
6.6.5 Digital Control = 233
6.7 Autonomy = 234
6.7.1 Classification = 234
6.7.2 Detect (i.e., Sense)-and-Avoid = 235
6.7.3 Automated Recovery = 236
6.7.4 Fault Monitoring = 236
6.7.5 Intelligent Flight Planning = 236
6.8 Manned-Unmanned Aircraft Teaming = 237
6.8.1 Need for Teaming = 237
6.8.2 Teaming Problem Formulation = 237
6.8.3 Decision Making Process = 239
6.8.4 Teaming Communication Process = 241
6.8.5 Teaming Laws = 242
6.9 Control System Design Process = 243
Questions = 246
Problems = 249
7 Guidance System Design = 255
7.1 Introduction = 256
7.2 Fundamentals = 257
7.2.1 Guidance Process = 257
7.2.2 Elements of Guidance System = 258
7.2.3 Guidance Components = 259
7.2.4 Target Detection = 260
7.2.5 Moving Target Tracking = 262
7.3 Guidance Laws = 263
7.4 Command Guidance Law = 265
7.5 PN Guidance Law = 269
7.6 Pursuit Guidance Law = 273
7.7 Waypoint Guidance Law = 274
7.7.1 Waypoints = 274
7.7.2 Types of Waypoint Guidance = 275
7.7.3 Segments of a Horizontal (Level) Trajectory = 276
7.7.4 Waypoint Guidance Algorithm = 278
7.7.5 UAV Maneuverability Evaluation = 281
7.8 Sense and Avoid = 282
7.8.1 Fundamentals = 282
7.8.2 Sensing Techniques = 283
7.8.3 Collision Avoidance = 286
7.9 Formation Flight = 291
7.10 Motion Planning and Trajectory Design = 293
7.11 Guidance Sensor - Seeker = 294
7.12 Guidance System Design = 296
Questions = 298
Problems = 300
8 Navigation System Design = 305
8.1 Introduction = 306
8.2 Classifications = 307
8.3 Coordinate Systems = 309
8.3.1 Fixed and Moving Frames = 309
8.3.2 World Geodetic System = 310
8.4 Inertial Navigation System = 311
8.4.1 Fundamentals = 311
8.4.2 Navigation Equations = 313
8.4.3 Navigation Basic Calculations = 313
8.4.4 Geodetic Coordinates Calculations = 314
8.5 Kalman Filtering = 315
8.6 Global Positioning System = 317
8.6.1 Fundamentals = 317
8.6.2 Earth Longitude and Latitude = 319
8.6.3 Ground Speed Versus Airspeed = 322
8.7 Position Fixing Navigation = 322
8.7.1 Map Reading = 322
8.7.2 Celestial Navigation = 322
8.8 Navigation in Reduced Visibility Conditions = 323
8.9 Inertial Navigation Sensors = 323
8.9.1 Primary Functions = 323
8.9.2 Accelerometer = 324
8.9.3 Gyroscope = 326
8.9.4 Airspeed Sensor = 329
8.9.5 Altitude Sensor = 330
8.9.6 Pressure Sensor = 332
8.9.7 Clock／Time = 332
8.9.8 Compass = 332
8.9.9 Magnetometer = 333
8.9.10 MEMS Inertial Module = 333
8.9.11 Transponder = 335
8.10 Navigation Disturbances = 335
8.10.1 Wind = 335
8.10.2 Gust and Disturbance = 337
8.10.3 Measurement Noise = 339
8.10.4 Drift = 340
8.10.5 Coriolis Effect = 342
8.10.6 Magnetic Deviation = 344
8.11 Navigation System Design = 345
8.11.1 Design Requirements = 345
8.11.2 Design Flowchart = 346
8.11.3 Design Guidelines = 347
Questions = 348
Problems = 352
9 Microcontroller = 355
9.1 Introduction = 356
9.2 Basic Fundamentals = 358
9.2.1 Microcontroller Basics = 358
9.2.2 Microcontroller Versus Microprocessor = 361
9.2.3 Packaging Formats = 361
9.2.4 Modules／Components = 363
9.2.5 Atmel ATmega644P = 365
9.3 Microcontroller Circuitry = 367
9.3.1 Microcontroller Circuit Board = 367
9.3.2 Electric Motor = 367
9.3.3 Servo Motor = 368
9.3.4 Sensors = 368
9.3.5 Potentiometer = 369
9.4 Embedded Systems = 369
9.4.1 Introduction = 369
9.4.2 Embedded Processors = 369
9.4.3 Signal Flow = 370
9.5 Microcontroller Programming = 371
9.5.1 Software Development = 371
9.5.2 Operating System = 371
9.5.3 Management Software = 371
9.5.4 Microcontroller Programing = 372
9.5.5 Software Integration = 372
9.5.6 High-Level Programming Languages = 373
9.5.7 Compiler = 374
9.5.8 Debugging = 374
9.6 Programming in C = 374
9.6.1 Introduction = 374
9.6.2 General Structure of a C Program = 374
9.6.3 Example Code - Detecting a Dead LED = 375
9.6.4 Execution of a C Program = 377
9.7 Arduino = 378
9.7.1 Arduino Overview = 378
9.7.2 Arduino Programming = 379
9.7.3 Arduino Uno Board = 380
9.7.4 Open-Loop Control of an Elevator = 382
9.7.5 Arduino and Matlab = 383
9.8 Open-Source Commercial Autopilots = 384
9.8.1 ArduPilot = 384
9.8.2 PX4 Pixhawk Autopilot = 385
9.8.3 Micropilot = 386
9.8.4 DJI WookKong Autopilot = 387
9.9 Design Procedure = 387
9.10 Design Project = 388
9.10.1 Problem Statement = 389
9.10.2 Design and Implementation = 389
9.10.3 Arduino Code = 389
9.10.4 Procedure = 391
9.10.5 MATLAB Code for Real-Time Plotting = 392
9.10.6 System Response and Results = 393
Questions = 393
Problems = 395
Design Projects = 397
10 Launch and Recovery Systems Design = 399
10.1 Introduction = 400
10.2 Launch Technologies and Techniques = 402
10.2.1 Rocket Assisted Launch = 402
10.2.2 Bungee Cord Catapult Launch = 403
10.2.3 Pneumatic Launchers = 406
10.2.4 Hydraulic Launchers = 407
10.2.5 Air Launch = 408
10.2.6 Hand Launch = 409
10.3 Launcher Equipment = 410
10.3.1 Elements = 410
10.3.2 Ramp／Slipway = 410
10.3.3 Push Mechanism = 412
10.3.4 Elevation Platform = 412
10.3.5 Power Supply = 415
10.4 Fundamentals of Launch = 415
10.4.1 Fundamental Principles = 415
10.4.2 Governing Launch Equations = 416
10.4.3 Wing and Horizontal Tail Contributions = 419
10.4.4 UAV Longitudinal Trim = 420
10.5 Elevation Mechanism Design = 422
10.5.1 Elevation Mechanism Operation = 422
10.5.2 Hydraulic and Pneumatic Actuators = 423
10.6 VTOL = 424
10.7 Recovery Technologies and Techniques = 424
10.7.1 Fundamentals = 424
10.7.2 Net Recovery = 425
10.7.3 Arresting Line = 426
10.7.4 Skyhook = 427
10.7.5 Windsock = 427
10.7.6 Parachute = 429
10.8 Recovery Fundamentals = 429
10.8.1 Parachute = 429
10.8.2 Impact Recovery = 431
10.9 Launch／Recovery Systems Mobility = 431
10.9.1 Mobility Requirements = 431
10.9.2 Conventional Wheeled Vehicle = 432
10.10 Launch and Recovery Systems Design = 433
10.10.1 Launch and Recovery Techniques Selection = 433
10.10.2 Launch System Design = 434
10.10.3 Recovery System Design = 436
Questions = 437
Problems = 440
Design Projects = 443
11 Ground Control Station = 445
11.1 Introduction = 446
11.2 GCS Subsystems = 448
11.3 Types of Ground Stations = 448
11.3.1 Handheld Radio Controller = 449
11.3.2 Portable GCS = 453
11.3.3 Mobile Truck = 454
11.3.4 Central Command Station = 458
11.3.5 Sea Control Station = 459
11.3.6 General GCS = 459
11.4 GCS of a Number of UAVs = 460
11.4.1 Global Hawk = 460
11.4.2 Predator = 461
11.4.3 MQ-5A Hunter = 462
11.4.4 Shadow 200 = 462
11.4.5 DJI Phantom = 463
11.4.6 Yamaha RMAX Unmanned Helicopter = 464
11.5 Human-Related Design Requirements = 464
11.5.1 Number of Pilots Operators in Ground Station = 464
11.5.2 Ergonomics = 464
11.5.3 Features of a Human Pilot／Operator = 466
11.5.4 Console Dimensions and Limits = 467
11.6 Support Equipment = 469
11.6.1 Introduction = 469
11.6.2 Transportation Equipment = 470
11.6.3 Power Generator = 471
11.6.4 HVAC System = 471
11.6.5 Other Items = 471
11.7 GCS Design Guidelines = 472
Questions = 473
Problems = 475
Design Problems = 476
Laboratory Experiments = 477
12 Payloads Selection／Design = 487
12.1 Introduction = 482
12.2 Elements of Payload = 483
12.2.1 Payload Definition = 483
12.2.2 Payloads Classifications = 484
12.3 Payloads of a Few UAVs = 484
12.3.1 RQ-4 Global Hawk = 485
12.3.2 MQ-9 Predator B Reaper = 485
12.3.3 RQ-7 Shadow 200 = 486
12.3.4 RQ-5A Hunter = 486
12.3.5 DJI Phantom Quadcopter = 486
12.3.6 X-45 UCAV = 487
12.3.7 Yamaha RMAX = 487
12.4 Cargo or Freight Payload = 487
12.5 Reconnaissance／Surveillance Payload = 488
12.5.1 Electro-Optical Camera = 489
12.5.2 Infra-Red Camera = 494
12.5.3 Radar = 495
12.5.4 Lidar = 502
12.5.5 Range Finder = 502
12.5.6 Laser Designator = 504
12.5.7 Radar Warning Receiver = 505
12.6 Scientific Payloads = 505
12.6.1 Classifications = 505
12.6.2 Temperature Sensor = 507
12.7 Military Payloads = 508
12.8 Electronic Counter Measure Payloads = 509
12.9 Payload Installation = 511
12.9.1 Payload Wiring = 511
12.9.2 Payload Location = 512
12.9.3 Payload Aerodynamics = 513
12.9.4 Payload-Structure Integration = 517
12.9.5 Payload Stabilization = 520
12.10 Payload Control and Management = 520
12.11 Payload Selection／Design Guidelines = 520
Questions = 523
Problems = 525
Design Problems = 527
13 Communications System Design = 531
13.1 Fundamentals = 532
13.2 Data Link = 534
13.3 Transmitter = 536
13.4 Receiver = 537
13.5 Antenna = 539
13.6 Radio Frequency = 541
13.7 Encryption = 544
13.8 Communications Systems of a Few UAVs = 545
13.9 Installation = 547
13.10 Communications System Design = 547
13.11 Bi-directional Communications Using Arduino Boards = 548
13.11.1 Communications Modules = 548
13.11.2 NRF24L01 Module = 549
13.11.3 Bluetooth Module = 553
13.11.4 An Application = 554
Questions = 558
Problems = 560
Laboratory Experiments = 561
Design Projects = 562
14 Design Analysis and Feedbacks = 565
14.1 Introduction = 566
14.2 Design Feedbacks = 567
14.3 Weight and Balance = 569
14.3.1 UAV Center of Gravity = 569
14.3.2 Weight Distribution = 471
14.4 Stability Analysis = 573
14.4.1 Fundamentals = 573
14.4.2 Static Longitudinal Stability = 574
14.4.3 Dynamic Longitudinal Stability = 574
14.4.4 Static Lateral-Directional Stability = 575
14.4.5 Dynamic Lateral-Directional Stability = 576
14.4.6 Typical Values for Stability Derivatives = 577
14.5 Controllability Analysis = 579
14.5.1 Longitudinal Control = 579
14.5.2 Lateral Control = 580
14.5.3 Directional Control = 581
14.5.4 Typical Values for Control Derivatives = 582
14.6 Flight Performance Analysis = 582
14.6.1 Maximum Speed = 582
14.6.2 Maximum Range = 584
14.6.3 Maximum Endurance = 584
14.6.4 Climb Performance = 585
14.6.5 Takeoff Performance = 587
14.6.6 Turn Performance = 588
14.6.7 Absolute Ceiling = 590
14.7 Cost Analysis = 591
Questions = 593
Problems = 595
References = 601
Index = 609

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