Dynamic modeling of a fixed-wing VTOL UAV
27 May 2014-pp 483-491
TL;DR: In this article, a transition-flight mathematical model of a civil tilt-rotor VTOL unmanned aerial vehicle (UAV) TURAC is presented, where forces and moments acting on the UAV body are calculated using Newton's second law.
Abstract: This paper presents a transition-flight mathematical model of a civil tilt-rotor VTOL unmanned aerial vehicle (UAV) TURAC. Forces and moments acting on the UAV body are calculated using Newton's second law. Aerodynamic effects of free airstream and propeller airstream are defined separately. CFD analyses are performed to specify aerodynamic coefficients for transitional flight regime. The trim point is mathematically defined with respect to angle of attack, tilt angle, airspeed, thrust of tilt-rotor and coaxial fan are defined during transitional flight. A transitional flight scenario is developed with force and moment equations.
Citations
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TL;DR: In this survey paper, a systematic categorization method for the hybrid UAV's platform designs is introduced, first presenting the technical features and representative examples, and next explaining the flight dynamics model and flight control strategies.
184Â citations
09 Jun 2015
TL;DR: This article presents a review on the platform design, dynamic modeling and control of hybrid Unmanned Aerial Vehicles (UAVs), a newer type of UAV that integrates the beneficial features of both conventional ones.
Abstract: This article presents a review on the platform design, dynamic modeling and control of hybrid Unmanned Aerial Vehicles (UAVs). For now, miniature UAVs which have experienced a tremendous development are dominated by two main types, i.e., fixed-wing UAV and Vertical Take-Off and Landing (VTOL) UAV, each of which, however, has its own inherent limitations on such as flexibility, payload, axnd endurance. Enhanced popularity and interest are recently gained by a newer type of UAVs, named hybrid UAV that integrates the beneficial features of both conventional ones. In this paper, a technical overview of the recent advances of the hybrid UAV is presented. More specifically, the hybrid UAV's platform design together with the associated technical details and features are introduced first. Next, the work on hybrid UAV's flight dynamics modeling is then categorized and explained. As for the flight control system design for the hybrid UAV, several flight control strategies implemented are discussed and compared in terms of theory, linearity and implementation.
124Â citations
Cites background or methods from "Dynamic modeling of a fixed-wing VT..."
...Moreover, due to their controllability and stability in vertical flight when compared to other hybrid UAVs, Tilt-Rotors are actively researched in academia and there exist several vehicles implementing the idea such as IAI Panther [6][7], TURAC [8][9] [10], Orange Hawk [11], FireFLY6 [12] and AgustaWestland Project Zero [13] shown in Fig....
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...Instead of using the experimental results collected in the wind-tunnel, the authors of [10], [48]...
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...imental data as in [62], wind tunnel experimental data as in [18], [19], [49] or CFD results as in [10], [48], [52]....
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...Tilt-Rotor [10], [41], [42], [43], [44], [45], [46], [47], [48], [49]...
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...as in TURAC [8] [9] [10] and Orange Hawk [11] or by using all three coaxial rotors as in FireFLY6 [12]....
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TL;DR: In this article , a literature review was conducted utilizing three bibliographic databases, including Google Scholar, Scopus, Web of Science, and 179 research articles that are relevant to UAV applications in sugarcane and other general information about UAV and sensors collected from the databases mentioned earlier.
32Â citations
TL;DR: In this study, the end result of an iterative design process of TURAC is presented, and a low-cost prototyping methodology is developed and its application is demonstrated in detail.
Abstract: Over the last decade, the share of civilian Unmanned Aerial Vehicles (UAVs) in the general UAV market has steadily increased. These systems are being used more and more for applications ranging from crop monitoring to the tracking air emissions in high-pollution areas. Most civilian applications require UAVs to be low cost, portable, and easily packaged while also having Vertical Take-off and Landing (VTOL) capability. In light of this, the TURAC was designed, a VTOL Tilt Rotor UAV with these capabilities. Mathematical and CFD analyses were performed iteratively in order to optimize the design, but testing in actual conditions were needed. However, as with such an iterative design process, the manufacturing process costs, including different molds for each design, can be exorbitant. In addition, once an imperfection in the design is encountered, making design modifications on the full scale UAV prototype is difficult and expensive. Therefore, a cheap, rapid, and easily reproducible prototyping methodology is essential. In this study, the end result of an iterative design process of TURAC is presented. In addition, a low-cost prototyping methodology is developed and its application is demonstrated in detail. The ground and flight tests are applied on a fully functional prototype and the results are given.
32Â citations
08 Jan 2019
TL;DR: In this article, the authors assess the current capability of UAVs to identify and monitor understorey vegetation and provide recommendations as to how UAS attributes can be tailored to help detect and monitor the species-specific differences.
Abstract: Understorey vegetation plays an important role in many ecosystems, yet identifying and monitoring understorey vegetation through remote sensing has proved a challenge for researchers and land managers because understorey plants tend to be small, spatially and spectrally similar, and are often blocked by the overstorey. The emergence of Unmanned Aerial Systems (UAS) is revolutionising how vegetation is measured, and may allow us to measure understorey species where traditional remote sensing previously could not. The goal of this paper was to review current literature and assess the current capability of UAS to identify and monitor understorey vegetation. From the literature, we focused on the technical attributes that limit the ability to monitor understorey vegetation—specifically (1) spatial resolution, (2) spectral sensitivity, (3) spatial extent, and (4) temporal frequency at which a sensor acquires data. We found that UAS have provided improved levels of spatial resolution, with authors reporting successful classifications of understorey vegetation at resolutions of between 3 mm and 200 mm. Species discrimination can be achieved by targeting flights to correspond with phenological events to allow the detection of species-specific differences. We provide recommendations as to how UAS attributes can be tailored to help identify and monitor understorey species.
22Â citations
References
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TL;DR: In this article, the authors present a mathematical review of Laplace transforms and matrix algebra for control system analysis techniques for aircraft Autopilot design and demonstrate the application of classic control theory to aircraft autopilot designs.
Abstract: 1Introduction 2 Static Stability and Control 3 Aircraft Equations of Motion 4 Longitudinal Motion (Stick Fixed) 5 Lateral Motion (Stick Fixed) 6 Aircraft Response to Control on Atmospheric Inputs 7 Automatic Control Theory-The Classical Approach 8 Application of Classic Control Theory to Aircraft Autopilot Design 9 Modern Control Theory 10 Applications of Modern Control Theory to Aircraft Autopilot Design Appendixes A Atmospheric Tables B Geometric, Mass, and Aerodynamic Characteristics of Selected Airplanes C Mathematical Review of Laplace Transforms and Matrix Algebra D Review of Control System Analysis Techniques
1,190Â citations
"Dynamic modeling of a fixed-wing VT..." refers background in this paper
...According to the law of motion, summing all external forces acting on a body is equal to the time derivative of its momentum with respect to inertial space, as presented mathematically in (1) [19]....
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...The mathematical expression of the total moment is shown in (2) [19]....
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01 Jan 1965
TL;DR: Inertial cross-coupling is used in this article for lateral autopilots, and it is shown to be useful for self-adaptive auto-pilots.
Abstract: Longitudinal Dynamics. Longitudinal Autopilots. Lateral Dynamics. Lateral Autopilots. Inertial Cross-Coupling. Self-Adaptive Autopilots. Missile Control Systems. Guidance Systems. Integrated Flight/Fire Control System. Multivariable Control Systems. Structural Flexibility. Application of Statistical Design Principles. Pilot Modeling. Appendices. Index.
873Â citations
"Dynamic modeling of a fixed-wing VT..." refers background in this paper
...Before the derivation step, it is necessary to make following assumptions [20]: - The XZ plane of the UAV body axis system is the symmetry plane....
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07 Jun 2004
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Abstract: Progresses in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring and building exploration. In this paper we describe the approach that our lab has taken to micro VTOL evolving towards full autonomy, and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.
831Â citations
"Dynamic modeling of a fixed-wing VT..." refers background in this paper
...In one of the studies on simulation and control, dynamic modeling, control, and design optimization of micro VTOL UAVs focused on the hover regime [2]....
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DOI•
01 Jan 2007
TL;DR: In this article, a mathematical model for simulation and control of a minibrobot is presented. And the methodology is subsequently applied to design an autonomous quadrotor named OS4, which has all the necessary sensors for autonomous operation.
Abstract: This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such systems. It then describes a design methodology for a miniature rotorcraft. The methodology is subsequently applied to design an autonomous quadrotor named OS4. Based on the mathematical model, linear and nonlinear control techniques are used to design and simulate various controllers along this work. The dynamic model and the simulator evolved from a simple set of equations, valid only for hovering, to a complex mathematical model with more realistic aerodynamic coefficients and sensor and actuator models. Two platforms were developed during this thesis. The first one is a quadrotor-like test-bench with off-board data processing and power supply. It was used to safely and easily test control strategies. The second one, OS4, is a highly integrated quadrotor with on-board data processing and power supply. It has all the necessary sensors for autonomous operation. Five different controllers were developed. The first one, based on Lyapunov theory, was applied for attitude control. The second and the third controllers are based on PID and LQ techniques. These were compared for attitude control. The fourth and the fifth approaches use backstepping and sliding-mode concepts. They are applied to control attitude. Finally, backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers. This approach is validated through various flight experiments conducted on the OS4.
631Â citations
"Dynamic modeling of a fixed-wing VT..." refers methods in this paper
...Another study includes linear and nonlinear control techniques, which are based on Lyapunov theory, Proportional Integral Derivative (PID) and Linear Quadratic (LQ), backstepping, and sliding-mode control algorithms for VTOLs [3]....
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01 Jan 2002
TL;DR: Navier-Stokes computational fluid dynamics calculations are presented for isolated, half-span, and full-span V-22 tiltrotor hover configurations as mentioned in this paper, which extend the validity of CFD hover methodology beyond conventional rotorcraft applications to tiltrotors.
Abstract: Navier-Stokes computational fluid dynamics calculations are presented for isolated, half-span, and full-span V-22 tiltrotor hover configurations. These computational results extend the validity of CFD hover methodology beyond conventional rotorcraft applications to tiltrotor configurations. Computed steady-state, isolated rotor performance agrees well with experimental measurements, showing little sensitivity to grid resolution. However, blade-vortex interaction flowfield details are sensitive to numerical dissipation and are more difficult to model accurately. Time-dependent, dynamic, half- and full-span installed configurations show sensitivities in performance to the tiltrotor fountain flow. As such, the full-span configuration exhibits higher rotor performance and lower airframe download than the half-span configuration. Half-span rotor installation trends match available half-span data, and airframe downloads are reasonably well predicted. Overall, the CFD solutions provide a wealth of flowfield details that can be used to analyze and improve tiltrotor aerodynamic performance.
103Â citations
"Dynamic modeling of a fixed-wing VT..." refers background in this paper
...Rotor performance differences between two different models are evaluated [8]....
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