Modeling, Autopilot Design, and Field Tuning of a UAV With Minimum Control Surfaces


Whereas having the benefit of mechanical simplicity, model-scale unmanned aerial vehicles with solely two elevon management surfaces present interesting challenges in dynamics modeling, autopilot style, and field tuning. Because of limited on-board computing and Communication bandwidth, ancient management theory was applied to systematically tune the proportional-integral-derivative-primarily based (PID) autopilots offline. Primarily based on the aerodynamic analysis, its multi-input, multi-output underactuated linear model configuration was deduced. Utilizing the important-time flight knowledge collected from human-controlled test flight, a two-input 3-output linear model was obtained by suggests that of system identification. It includes the transfer functions in the airspeed loop, heading loop, and altitude loop. The dynamic behavior of the aircraft was analyzed, and 5 PID controllers in three loops were designed primarily based on the root-locus techniques. The controllers were implemented and any tuned in field flights with improved performances. We tend to demonstrate that with proper precautions, traditional management theory will be used to solve complicated management problems that are usually tackled with nonlinear control algorithms.

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