Modeling and Attitude Control of a Tilt Tri-Rotor UAV
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- 英文论文题名：Modeling and Attitude Control of a Tilt Tri-Rotor UAV
- 论文作者：Li Yu ; Daibing Zhang ; Jiyang Zhang ; Chongyu Pan
- 英文论文作者：Li Yu ; Daibing Zhang ; Jiyang Zhang ; Chongyu Pan ; National University of Defense Technology ; College of Mechatronic Engineering and Automation
- 年：2017
- 作者机构：National University of Defense Technology,College of Mechatronic Engineering and Automation;
- 英文论文关键词：VTOL ; tilt tri-rotor ; attitude control ; control allocation
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V249.1;V279
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：1896k
- 原文格式：D
- 会议级别：全国
摘要
The tilt tri-rotor UAV which combines the advantages of both rotary wing and fixed wing vehicle, offers the capability of hover, vertical take-off and landing and fast forward movement. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAV reamians a problem. In this paper, precise model of a tilt tri-rotor UAV is developed by combing system identification and physical measurement. An attitude controller is designed based on control allocation of attitude and throttle on the powerplant. The detailed mathematical model is obtained by the equations of Newton-Euler, which parameters are acquired from designed experiments. To improve the stability of helicopter fight, a new control allocation strategy is developed in the framework of PID control.
The tilt tri-rotor UAV which combines the advantages of both rotary wing and fixed wing vehicle, offers the capability of hover, vertical take-off and landing and fast forward movement. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAV reamians a problem. In this paper, precise model of a tilt tri-rotor UAV is developed by combing system identification and physical measurement. An attitude controller is designed based on control allocation of attitude and throttle on the powerplant. The detailed mathematical model is obtained by the equations of Newton-Euler, which parameters are acquired from designed experiments. To improve the stability of helicopter fight, a new control allocation strategy is developed in the framework of PID control.
The tilt tri-rotor UAV which combines the advantages of both rotary wing and fixed wing vehicle, offers the capability of hover, vertical take-off and landing and fast forward movement. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAV reamians a problem. In this paper, precise model of a tilt tri-rotor UAV is developed by combing system identification and physical measurement. An attitude controller is designed based on control allocation of attitude and throttle on the powerplant. The detailed mathematical model is obtained by the equations of Newton-Euler, which parameters are acquired from designed experiments. To improve the stability of helicopter fight, a new control allocation strategy is developed in the framework of PID control.
引文
[1]G.Flores,R.Lozano,Transition Flight Control of the QuadTilting Rotor Convertible MAV,in Proceedings of 2013 International Conference on Unmanned Aircraft Systems,2013:789-794.
[2]A.Yuksek,U.Vuruskan,M.Ozdemir,et al,Transition Flight Modeling of a Fixed-Wing VTOL UAV,Journal of Intelligent and Robotic Systems,84(1-4):83-105,2016.
[3]R.Muhammad,Hadytama,A.Rianto,et al,Dynamics Simulation and Analysis of Transition Stage of Tilt-Rotor Aircraft,Applied Mechanics and Materials,842(8):251-258,2016.
[4]A.Onen,L.Cevher,M.Senipek,et al,Modeling and Controller Design of a VTOL UAV,in Proceedings of 2015 International Conference on Unmanned Aircraft Systems,2015:329-337.
[5]C.Papachristos,K.Alexis,G.Nikolakopoulos,et al,Model Predictive Attitude Control of an unmanned Tilt?Rotor aircraft,IEEE International Symposium on Industrial Electronics,19(6):922-927,2011.
[6]C.Papachristos,K.Alexis,G.Nikolakopoulos,et al,Model Predictive Hovering Translation Control of an Unmanned Tri?Tilt Rotor,in Proceedings of IEEE International Conference on Robotics and Automation,2013:5425-5432.
[7]E.Enya,B.Tan,J.Goh,et al,Development of UGS Tilt-rotor Surveillance Tricopter UAV,Journal of Applied Science and Engineering,18(2):177-186,2015.
[8]D.Ta,I.Fantoni,and R.Lozano,Modeling and Control of a Tilt tri-rotor Airplane,in Proceedings of American Control Conference,2012:131-136.
[9]R.Dargham,A.Sayouti,and H.Medromi,Euler Quaternion Parameterization in VTOL UAV Dynamics with Test Model Efficiency,International Journal of Applied Information Systems,9(8):25-28,2015.
[10]V.Klein,E.Morelli,Aircraft System Identification Theory and Practice.Reston,Va,USA:American Institute of Aeronautics and Astronautics,2006,chapter 3.
[11]M.Bayrakceken,A.Arisoy,An educational setup for nonlinear control systems:Enhancing the motivation and learning in a targeted curriculum by experimental practices,IEEE Control Systems,33(2):64-81,2013.
[12]C.An,D.Zhang,J.Zhang,et al,A New Structural Configuration of Tilting Rotor Unmanned Aerial Vehicle Modeling,in Proceedings of the 35th Chinese Control Conference,2016:2120-2125.
[13]C.Chen,J.Zhang,D.Zhang,et al,Control and Flight Test of a Tilt-rotor Unmanned Aerial Vehicle,International Journal of Advanced Robotic Systems,14(1):1-12,2017.
[14]Y.Seo,Y.Kim,Modeling and Attitude Control of Tri-Tilt Ducted Fan Vehicle,in Proceedings of AIAA Guidance,Navigation,and Control Conference,2016:1-18.
[2]A.Yuksek,U.Vuruskan,M.Ozdemir,et al,Transition Flight Modeling of a Fixed-Wing VTOL UAV,Journal of Intelligent and Robotic Systems,84(1-4):83-105,2016.
[3]R.Muhammad,Hadytama,A.Rianto,et al,Dynamics Simulation and Analysis of Transition Stage of Tilt-Rotor Aircraft,Applied Mechanics and Materials,842(8):251-258,2016.
[4]A.Onen,L.Cevher,M.Senipek,et al,Modeling and Controller Design of a VTOL UAV,in Proceedings of 2015 International Conference on Unmanned Aircraft Systems,2015:329-337.
[5]C.Papachristos,K.Alexis,G.Nikolakopoulos,et al,Model Predictive Attitude Control of an unmanned Tilt?Rotor aircraft,IEEE International Symposium on Industrial Electronics,19(6):922-927,2011.
[6]C.Papachristos,K.Alexis,G.Nikolakopoulos,et al,Model Predictive Hovering Translation Control of an Unmanned Tri?Tilt Rotor,in Proceedings of IEEE International Conference on Robotics and Automation,2013:5425-5432.
[7]E.Enya,B.Tan,J.Goh,et al,Development of UGS Tilt-rotor Surveillance Tricopter UAV,Journal of Applied Science and Engineering,18(2):177-186,2015.
[8]D.Ta,I.Fantoni,and R.Lozano,Modeling and Control of a Tilt tri-rotor Airplane,in Proceedings of American Control Conference,2012:131-136.
[9]R.Dargham,A.Sayouti,and H.Medromi,Euler Quaternion Parameterization in VTOL UAV Dynamics with Test Model Efficiency,International Journal of Applied Information Systems,9(8):25-28,2015.
[10]V.Klein,E.Morelli,Aircraft System Identification Theory and Practice.Reston,Va,USA:American Institute of Aeronautics and Astronautics,2006,chapter 3.
[11]M.Bayrakceken,A.Arisoy,An educational setup for nonlinear control systems:Enhancing the motivation and learning in a targeted curriculum by experimental practices,IEEE Control Systems,33(2):64-81,2013.
[12]C.An,D.Zhang,J.Zhang,et al,A New Structural Configuration of Tilting Rotor Unmanned Aerial Vehicle Modeling,in Proceedings of the 35th Chinese Control Conference,2016:2120-2125.
[13]C.Chen,J.Zhang,D.Zhang,et al,Control and Flight Test of a Tilt-rotor Unmanned Aerial Vehicle,International Journal of Advanced Robotic Systems,14(1):1-12,2017.
[14]Y.Seo,Y.Kim,Modeling and Attitude Control of Tri-Tilt Ducted Fan Vehicle,in Proceedings of AIAA Guidance,Navigation,and Control Conference,2016:1-18.