Introduction to multicopter design and control

목차 (Table of Contents)

• CONTENTS
• 1 Introduction = 1
• 1.1 Concepts = 3
• 1.1.1 Classification of Commonly Used Small Aircraft = 3
• 1.1.2 Unmanned Aerial Vehicle and Model Aircraft = 5
• 1.2 Remote Control and Performance Evaluation = 6
• 1.2.1 Remote Control of a Multicopter = 6
• 1.2.2 Performance Evaluation = 10
• 1.2.3 Bottleneck = 12
• 1.3 History of Multicopters = 13
• 1.3.1 The First Stage (Before 1990) : Dormancy Period = 14
• 1.3.2 The Second Stage (1990-2005) : Growing Period = 15
• 1.3.3 The Third Stage (2005-2010) : Development Period = 15
• 1.3.4 The Fourth Stage (2010-2013) : Activity Period = 17
• 1.3.5 The Fifth Period (2013-) : Booming Period... = 19
• 1.3.6 Conclusion Remark = 21
• 1.4 The Objective and Structure of the Book = 21
• 1.4.1 Objective = 21
• 1.4.2 Structure = 22
• Exercises = 25
• References = 25
• Part Ⅰ Design
• 2 Basic Composition = 31
• 2.1 Introduction = 33
• 2.2 Airframe = 33
• 2.2.1 Fuselage = 33
• 2.2.2 Landing Gear = 36
• 2.2.3 Duct = 36
• 2.3 Propulsion System = 37
• 2.3.1 Propeller = 37
• 2.3.2 Motor = 40
• 2.3.3 Electronic Speed Controller = 43
• 2.3.4 Battery = 45
• 2.4 Command and Control System = 47
• 2.4.1 RC Transmitter and Receiver = 47
• 2.4.2 Autopilot = 50
• 2.4.3 Ground Control Station = 51
• 2.4.4 Radio Telemetry = 51
• 2.5 Summary = 54
• Exercises = 54
• References = 54
• 3 Airframe Design = 57
• 3.1 Configuration Design = 59
• 3.1.1 Airframe Configuration = 59
• 3.1.2 Aerodynamic Configuration = 66
• 3.2 Structural Design = 67
• 3.2.1 Design Principles of Airframe = 67
• 3.2.2 Anti-Vibration Consideration = 67
• 3.2.3 Noise Reduction Consideration = 70
• 3.3 Summary = 71
• Exercises = 71
• References = 71
• 4 Modeling and Evaluation of Propulsion System = 73
• 4.1 Problem Formulation = 75
• 4.2 Propulsion System Modeling = 75
• 4.2.1 Propeller Modeling = 75
• 4.2.2 Motor Modeling = 77
• 4.2.3 Electronic Speed Controller Modeling = 79
• 4.2.4 Battery Modeling = 80
• 4.3 Performance Evaluation = 80
• 4.3.1 Solution to Problem 1 = 80
• 4.3.2 Solution to Problem 2 = 83
• 4.3.3 Solution to Problem 3 = 83
• 4.3.4 Solution to Problem 4 = 84
• 4.4 Test Case = 87
• 4.5 Summary = 88
• 4.6 Appendix = 89
• 4.6.1 Procedure to Obtain Thrust Coefficient and Torque Coefficient = 89
• 4.6.2 Procedure to Obtain the Motor Equivalent Voltage and Current = 91
• Exercises = 94
• References = 95
• Part Ⅱ Modeling
• 5 Coordinate System and Attitude Representation = 99
• 5.1 Coordinate Frame = 101
• 5.1.1 Right-Hand Rule = 101
• 5.1.2 Earth-Fixed Coordinate Frame and Aircraft-Body Coordinate Frame = 101
• 5.2 Attitude Representation = 102
• 5.2.1 Euler Angles = 102
• 5.2.2 Rotation Matrix = 105
• 5.2.3 Quaternions = 109
• 5.3 Summary = 119
• Exercises = 119
• References = 120
• 6 Dynamic Model and Parameter Measurement = 121
• 6.1 Multicopter Control Model = 123
• 6.1.1 General Description = 123
• 6.1.2 Multicopter Flight Control Rigid Model = 124
• 6.1.3 Control Effectiveness Model = 127
• 6.1.4 Propulsor Model = 129
• 6.2 Multicopter Aerodynamic Drag Model = 130
• 6.2.1 Blade Flapping = 130
• 6.2.2 Multicopter Aerodynamic Drag Model = 132
• 6.3 Multicopter Model Parameter Measurement = 132
• 6.3.1 Position of the Center of Gravity = 133
• 6.3.2 Weight = 134
• 6.3.3 Moment of Inertia = 134
• 6.3.4 Propulsor Model's Parameter Measurement... = 138
• 6.4 Summary = 143
• Exercises = 143
• References = 143
• Part Ⅲ Perception
• 7 Sensor Calibration and Measurement Model = 147
• 7.1 Three-Axis Accelerometer = 149
• 7.1.1 Fundamental Principle = 149
• 7.1.2 Calibration = 149
• 7.1.3 Measurement Model = 151
• 7.2 Three-Axis Gyroscope = 151
• 7.2.1 Fundamental Principle = 151
• 7.2.2 Calibration = 152
• 7.2.3 Measurement Model = 154
• 7.3 Three-Axis Magnetometer = 155
• 7.3.1 Fundamental Principle = 155
• 7.3.2 Calibration = 155
• 7.3.3 Measurement Model = 157
• 7.4 Ultrasonic Range Finder = 157
• 7.4.1 Fundamental Principle = 157
• 7.4.2 Calibration = 158
• 7.4.3 Measurement Model = 158
• 7.5 Barometer = 158
• 7.5.1 Fundamental Principle = 158
• 7.5.2 Calibration = 159
• 7.5.3 Measurement Model = 159
• 7.6 2D Laser Range Finder = 159
• 7.6.1 Fundamental Principle = 159
• 7.6.2 Calibration = 159
• 7.6.3 Measurement Model = 159
• 7.6.4 Supplement : LiDAR = 160
• 7.7 Global Positioning System = 162
• 7.7.1 Fundamental Principle = 162
• 7.7.2 Calibration = 163
• 7.7.3 Measurement Model = 163
• 7.7.4 Supplement : Latitude-and-Longitude Distance and Heading Calculation = 164
• 7.8 Camera = 165
• 7.8.1 Fundamental Principle = 165
• 7.8.2 Measurement Model = 166
• 7.8.3 Calibration = 168
• 7.8.4 Some Toolboxes = 170
• 7.9 Summary = 170
• Exercises = 171
• References = 172
• 8 Observability and Kalman Filter = 173
• 8.1 Observability = 175
• 8.1.1 Linear System = 175
• 8.1.2 Continuous-Time Nonlinear System = 179
• 8.2 Kalman Filter = 183
• 8.2.1 Objective = 184
• 8.2.2 Preliminary = 184
• 8.2.3 Theoretical Derivation = 185
• 8.2.4 Multirate Kalman Filter = 192
• 8.3 Extended Kalman Filter = 193
• 8.3.1 Basic Principle = 193
• 8.3.2 Theoretical Derivation = 193
• 8.3.3 Implicit Extended Kalman Filter = 195
• 8.4 Summary = 196
• Exercises = 196
• References = 196
• 9 State Estimation = 199
• 9.1 Attitude Estimation = 201
• 9.1.1 Measuring Principle = 201
• 9.1.2 Linear Complementary Filter = 204
• 9.1.3 Nonlinear Complementary Filter = 207
• 9.1.4 Kalman Filter = 208
• 9.2 Position Estimation = 209
• 9.2.1 GPS-Based Position Estimation = 209
• 9.2.2 SLAM-Based Position Estimation = 210
• 9.3 Velocity Estimation = 214
• 9.3.1 Optical-Flow-Based Velocity Estimation Method = 214
• 9.3.2 Aerodynamic-Drag-Model-Based Velocity Estimation Method = 218
• 9.4 Obstacle Estimation = 220
• 9.4.1 Focus of Expansion Calculation = 220
• 9.4.2 Time to Collision Calculation = 221
• 9.5 Summary = 222
• Exercises = 223
• References = 224
• Part Ⅳ Control
• 10 Stability and Controllability = 227
• 10.1 Definition of Stability = 229
• 10.2 Stability Criteria = 230
• 10.2.1 Stability of Multicopters = 230
• 10.2.2 Some Results of Stability = 231
• 10.3 Basic Concepts of Controllability = 236
• 10.3.1 Classical Controllability = 236
• 10.3.2 Positive Controllability = 237
• 10.4 Controllability of Multicopters = 238
• 10.4.1 Multicopter System Modeling = 238
• 10.4.2 Classical Controllability = 240
• 10.4.3 Positive Controllability = 240
• 10.4.4 Controllability of Multicopter Systems = 243
• 10.4.5 Further Discussions = 247
• 10.5 Summary = 247
• 10.6 Appendix : Proof of Lemma 10.17 = 248
• Exercises = 249
• References = 250
• 11 Low-Level Flight Control = 251
• 11.1 Framework of Low-Level Flight Control of Multicopters = 253
• 11.2 Linear Model Simplification = 254
• 11.2.1 Horizontal Position Channel Model = 255
• 11.2.2 Altitude Channel Model = 255
• 11.2.3 Attitude Model = 256
• 11.3 Position Control = 256
• 11.3.1 Basic Concept = 256
• 11.3.2 Euler Angles as Output = 257
• 11.3.3 Rotation Matrix as Output = 262
• 11.4 Attitude Control = 265
• 11.4.1 Basic Conception = 265
• 11.4.2 Euler Angles Based Attitude Control = 266
• 11.4.3 Rotation Matrix Based Attitude Control = 266
• 11.4.4 Robust Attitude Control = 267
• 11.5 Control Allocation = 274
• 11.5.1 Basic Concept = 274
• 11.5.2 Implementation of Control Allocation in Autopilots = 275
• 11.6 Motor Control = 277
• 11.6.1 Closed-Loop Control = 277
• 11.6.2 Open-Loop Control = 277
• 11.7 Comprehensive Simulation = 277
• 11.7.1 Control Objective and System Parameter Setting = 277
• 11.7.2 Euler Angles Based Attitude Control Combined with Euler Angles Based Position Control = 278
• 11.7.3 Rotation Matrix Based Attitude Control Combined with Rotation Matrix Based Position Control = 280
• 11.7.4 Robust Attitude Control = 282
• 11.8 Summary = 283
• Exercises = 284
• References = 285
• 12 Position Control Based on Semi-Autonomous Autopilots = 287
• 12.1 Problem Formulation = 289
• 12.1.1 Structure of Multicopter with SAA = 289
• 12.1.2 Models of Three Channels = 289
• 12.1.3 Objective of Position Control = 291
• 12.2 System Identification = 291
• 12.2.1 Procedure and Toolboxes of System Identification = 291
• 12.2.2 Model Used in System Identification = 293
• 12.3 Position Controller Design = 296
• 12.3.1 PID Controller = 297
• 12.3.2 Additive-Output-Decomposition-Based Dynamic Inversion Control = 297
• 12.4 Simulation = 300
• 12.4.1 System Identification = 300
• 12.4.2 Control Design = 304
• 12.4.3 Comparison of Tracking Performance = 305
• 12.5 Summary = 307
• Exercises = 308
• References = 308
• Part Ⅴ Decision
• 13 Mission Decision-Making = 313
• 13.1 Fully-Autonomous Control = 315
• 13.1.1 Brief Introduction = 315
• 13.1.2 Mission Planning = 316
• 13.1.3 Path Planning = 318
• 13.2 Semi-Autonomous Control = 328
• 13.2.1 Three Modes of SAC = 329
• 13.2.2 Radio Control = 330
• 13.2.3 Automatic Control = 331
• 13.2.4 Switching Logic Between RC and AC = 333
• 13.3 Summary = 335
• Exercises = 335
• References = 336
• 14 Health Evaluation and Failsafe = 337
• 14.1 Purpose and Significance of Decision-Making Mechanism = 339
• 14.2 Safety Issues = 339
• 14.2.1 Communication Breakdown = 339
• 14.2.2 Sensor Failure = 340
• 14.2.3 Propulsion System Anomaly = 341
• 14.3 Health Evaluation = 341
• 14.3.1 Pre-Flight Health Check = 341
• 14.3.2 In-Flight Health Evaluation = 342
• 14.4 Failsafe Suggestions = 345
• 14.4.1 Communication Failsafe = 346
• 14.4.2 Sensor Failsafe = 346
• 14.4.3 Propulsion System Failsafe = 346
• 14.5 A Safe Semi-Autonomous Autopilot Logic Design = 347
• 14.5.1 Requirement Description = 347
• 14.5.2 Multicopter State and Flight Mode Definition = 348
• 14.5.3 Event Definition = 348
• 14.5.4 Autopilot Logic Design = 350
• 14.5.5 Demand and Decision-Making Table = 354
• 14.6 Summary = 359
• Exercises = 360
• References = 361
• 15 Outlook = 363
• 15.1 Related Technology Development = 365
• 15.1.1 Propulsion Technology = 365
• 15.1.2 Navigation Technology = 366
• 15.1.3 Interactive Technology = 367
• 15.1.4 Communication Technology = 368
• 15.1.5 Chip Technology = 368
• 15.1.6 Software Platform Technology = 369
• 15.1.7 Air Traffic Control Technology = 369
• 15.1.8 Concluding Remark = 370
• 15.2 Demand and Technology Innovation = 370
• 15.2.1 Innovation Level = 370
• 15.2.2 Application Innovation = 370
• 15.2.3 Performance Innovation = 372
• 15.3 Analysis = 375
• 15.3.1 Risks = 375
• 15.3.2 Suggestions = 375
• 15.4 Opportunities and Challenges = 376
• 15.4.1 Opportunities = 376
• 15.4.2 Challenges = 376
• References = 377
• Index = 381