Papers by Keyword: Autopilot

Abstract: In this article review of chosen control algorithms used for small UAV at Department of Control Systems of Rzeszów University of Technology and their properties is presented. At first, control laws based on modified PID algorithms are described. The example of modification is the use of double differentiation in the algorithm. Proposed modifications improve control quality. Next, model following LQR algorithms is introduced. Implementation of that algorithm improves control quality in the flight at trajectory. In the algorithm presented integration between desired trajectory and plant trajectory is introduced as an additional state.Another algorithm which is presented is sliding mode control algorithm as an example of robust control. It allows you to control plane in event of a fault. Appropriate selection of sliding surface ensures the stability of the system and good quality control under normal operating conditions and enables flight in the event of non-critical damage. To improve the quality control in emergency mode, the parameters of the sliding surface during flight can be modified. The last presented algorithm is model reference adaptive controller. The adaptation mechanism is derived from second Lyapunov method. It also enables control in the case of chosen faults. An example presented in the article is realized for roll angle control. In the case of control surface fault (e.g. aileron or rudder), the algorithm enables aircraft control. In that case control surface fault is treated as an uncertainty of model used.

Abstract: A hardware-in-the-loop (HIL) platform for unmanned air vehicle (UAV) systems is designed that demonstrates flight attitudes on yaw, pitch and roll axes. The design combines a sophisticated flight simulation software with a platform capable of moving 360 degrees on all axes. This enables the testing of the flight sensors and autopilot algorithms for all sorts of scenarios including emergency and acrobatic cases where an indefinite number of full rotations in the yaw, roll and pitch might take place.

Abstract: The ship autopilot can't work properly on the land due to the lack of the real rudder angle and heading feedback signal. The paper established the ship motion mathematic model and designed a rudder angle generating device. Applying the real autopilot, a detection and simulation system is developed. The proposed system can connect the output data between the ship autopilot and ship motion mathematic model, then the real ship autopilot performance can be detected and evaluated.

Abstract: The research in the field of VTOL UAVs has intensified considerably in the past few years due to military and civilian growing interest and due to electronics development This paper present the designing of a controller for a surveillance homemade heavy quadrotor UAV tolerant to wind perturbations.

Abstract: The mathematical model of the ship autopilot system is established which centering on marine hydraulic steering gear, based on the Nomoto ship motion model, and considered the influence of wind, wave, flow and other environmental factors on ship course angle. Depend on this model, the physical-digital hybrid simulation autopilot simulator is developed. This simulator has all of the operating functions of the ship steering system, it can not only simulate the turbine engine working scenarios, but also dynamically display the operation process, and the simulator is applicable to the ship track control research and crew training work.

Abstract: This paper deals with the new idea of implementing the auto piloting system that can be controlled from the ground. The ground controlled auto piloting system consists of microcontrollers that connect electric motors with various flying parts of the aero plane. The motors rotate as power is supplied from the programmed microcontroller.The working of the full system is made possible with the help of satellite navigation system, where wireless control on the flight from ground is not interrupted on any part of the earth. The objective of this method is that flights that suffer from a sudden knock out of pilot or a hijack can be managed from the ground by the authorized personnel in the ground (airport).

Abstract: This paper presents a methodology for the development of an UAV Autopilot System, based on modeling, instrumentation and a control law, with the purpose of stabilizing the airplane attitude. Firstly, were made experimental test flights by manual control for obtaining the longitudinal model parameters using the Matlab toolbox called "System Identification Tool". The model is represented by a transfer function of the pitch angle with respect to the elevator into an open-loop system. The system is stabilized using a PD controller (derivative-proportional) tuned with poles placement method. The zero exclusion principle is used to compute the robustness margin of the closed-loop system. Different experiments were made in order to validate theoretical results which are presented at the end of this work.

Abstract: Targeted at the faults of autopilot in fly-by-wire flight control system, a method based on integration of case and fault tree is proposed to quickly diagnose faults and provide the maintenance of autopilot system. In the process of diagnosis, according to the characteristics of fault information about autopilot system, the Build-in-test data was used to quickly search similar fault in the case base and accurately point out the fault location. For complex fault, the fault tree method is used to traverse to complete the reasoning and diagnosis procedure, and simultaneously add the results to the case base. The simulation results show the method is achieved.

Abstract: In this paper, a novel robust adaptive neural control scheme is proposed for a class of ship course autopilot with input saturation.RBF neural networks (NNs) are used to tackle unknown nonlinear functions,then the robust adaptive NN tracking controller is constructed by combining dynamic surface control (DSC) technique and the minimal-learning-parameters (MLP) algorithm. The stability analysis subject to the effect of input saturation constrains is conducted employing an auxiliary design system. With only one learning parameter and reduced computation load, the proposed algorithm can avoid both problem of “explosion of complexity” in the conventional backstepping method and singularity problem. In addition, the boundedness stability of the closed-loop system is guaranteed and tracking error can be made arbitrary small. The effectiveness of the presented autopilot has been demonstrated in the simulation.

Abstract: The problem of adaptive control design of ship autopilot with rudder dynamics is studied. The model is described by a third order nonlinear model for parametric uncertainties. An adaptive neural network (NN ) control algorithm based on dynamic surface control (DSC) is developed. With only one learning parameter and reduced computation load, the proposed algorithm can avoid both problem of explosion of complexity in the conventional backstepping method and singularity problem. In addition, the boundedness stability of the closed-loop system is guaranteed and tracking error can be made arbitrary small. The effectiveness of the presented autopilot has been demonstrated in the simulation.