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.20 RTO-MP-AVT-146 UNCLASSIFIED/UNLIMITED UNCLASSIFIED/UNLIMITED Envelope protection -+ SISO linear Controllers αdotc Cinematic decoupler ωc αest.T. Ward, “Reentry Vehicle Flight Controls Design Guidelines: Dynamic Inversion”, NASA/TP-2002–210771, March 2002 14 Pollini, L., Innocenti, M.Rothhaar, Paul M.; Murphy, Patrick C.; Bacon, Barton J.; Gregory, Irene M.; Grauer, Jared A.; Busan, Ronald C.; Croom, Mark A.2014-01-01Control of complex Vertical Take-Off and Landing ( VTOL) aircraft traversing from hovering to wing born flight mode and back poses notoriously difficult modeling, simulation, control, and flight-testing challenges. This paper provides an overview of the techniques and advances required to develop the GL-10 tilt-wing, tilt-tail, long endurance, VTOL aircraft control system. The GL-10 prototype's unusual and complex configuration requires application of state-of-the-art techniques and some significant advances in wind tunnel infrastructure automation, efficient Design Of Experiments (DOE) tunnel test techniques, modeling, multi-body equations of motion, multi-body actuator models, simulation, control algorithm design, and flight test avionics, testing, and analysis. The following compendium surveys key disciplines required to develop an effective control system for this challenging vehicle in this on-going effort.Barrett, R.; McMurtry, R.; Vos, R.; Tiso, P.; De Breuker, R.2005-01-01This paper describes a new class of flight control actuators using Post-Buckled Precompressed (PBP) piezoelectric elements. These actuators are designed to produce significantly higher deflection and force levels than conventional piezoelectric actuator elements. Classical laminate plate theory.Dugan, Daniel C.2014-01-01Thrust control of Vertical Takeoff and Landing ( VTOL) aircraft has always been a debatable issue.
In most cases, it comes down to the fundamental question of throttle versus collective. Some aircraft used throttle(s), with a fore and aft longitudinal motion, some had collectives, some have used Thrust Levers where the protocol is still 'Up is Up and Down is Down,' and some have incorporated both throttles and collectives when designers did not want to deal with the Human Factors issues. There have even been combinations of throttles that incorporated an arc that have been met with varying degrees of success. A previous review was made of nineteen designs without attempting to judge the merits of the controller.
Included in this paper are twelve designs entered in competition for the 1961 Tri-Service VTOL transport. Entries were from a Bell/Lockheed tiltduct, a North American tiltwing, a Vanguard liftfan, and even a Sikorsky tiltwing.
Additional designs were submitted from Boeing Wichita (direct lift), Ling-Temco-Vought with its XC-142 tiltwing, Boeing Vertol's tiltwing, Mcdonnell's compound and tiltwing, and the Douglas turboduct and turboprop designs. A private party submitted a re-design of the Breguet 941 as a VTOL transport. It is important to document these 53 year-old designs to preserve a part of this country's aviation heritage.Liying Zou2017-01-01Full Text Available This paper presents a novel control strategy to force a vertical take-off and landing ( VTOL aircraft to accomplish the pinpoint landing task. The control development is based on the image-based visual servoing method and the back-stepping technique; its design differs from the existing methods because the controller maps the image errors onto the actuator space via a visual model which does not contain the depth information of the feature point. The novelty of the proposed method is to extend the image-based visual servoing technique to the VTOL aircraft control. In addition, the Lyapunov theory is used to prove the asymptotic stability of the VTOL aircraft visual servoing system, while the image error can converge to zero. Furthermore, simulations have been also conducted to demonstrate the performances of the proposed method.Patton, J.
M., Jr.1972-01-01This paper presents pilot opinion supported by test data concerning flight control and display concepts and control system design requirements for VTOL aircraft in the instrument approach task. Material presented is drawn from research flights in the following aircraft: Dornier DO-31, Short SC-1, LTV XC-142A, and Boeing-Vertol CH-46.
The control system concepts and mechanizations employed in the above aircraft are discussed, and the effect of control system augmentation is shown on performance. Operational procedures required in the instrument approach task are described, with comments on need for automation and combining of control functions.Win Ko Ko Oo2017-04-01Full Text Available Vertical Take Off and Landing Vehicles VTOL are the ones which can take off and land from the same place without need of long runway. This paper presents the design and implementation of tricopter mode and aircraft mode for VTOL aircraft system.
Firstly the aircraft design is considered for VTOL mode. And then the mathematical model of the VTOL aircraft is applied to test stability. In this research the KK 2.1 flight controller is used for VTOL mode and aircraft mode. The first part is to develop the VTOL mode and the next part is the transition of VTOL mode to aircraft mode. This paper gives brief idea about numerous types of VTOLs and their advantages over traditional aircraftsand insight to various types of tricopter and evaluates their configurations.Kelly, J. R.; Niessen, F. R.; Garren, J.
F., Jr.1973-01-01The operation of VTOL aircraft in the city-center environment will require complex landing-approach trajectories that insure adequate clearance from other traffic and obstructions and provide the most direct routing for efficient operations. As part of a larger program to develop the necessary technology base, a flight investigation was undertaken to study the problems associated with manual and automatic control of steep, decelerating instrument approaches and landings.
The study employed a three-cue flight director driven by control laws developed and refined during manual- control studies and subsequently applied to the automatic approach problem. The validity of this approach was demonstrated by performing the first automatic approach and landings to a predetermined spot ever accomplished with a helicopter. The manual- control studies resulted in the development of a constant-attitude deceleration profile and a low-noise navigation system.Smith, Charles C., Jr.1961-01-01An experimental investigation has been made to determine the dynamic stability and control characteristics of a 1/5-scale flying model of a jet-powered vertical-attitude VTOL research airplane in hovering and transition flight. The model was powered with either a hydrogen peroxide rocket motor or a compressed-air jet exhausting through an ejector tube to simulate the turbojet engine of the airplane.
The gyroscopic effects of the engine were simulated by a flywheel driven by compressed-air jets. In hovering flight the model was controlled by jet-reaction controls which consisted of a swiveling nozzle on the main jet and a movable nozzle on each wing tip; and in forward flight the model was controlled by elevons and a rudder. If the gyroscopic effects of the jet engine were not represented, the model could be flown satisfactorily in hovering flight without any automatic stabilization devices. When the gyroscopic effects of the jet engine were represented, however, the model could not be controlled without the aid of artificial stabilizing devices because of the gyroscopic coupling of the yawing and pitching motions. The use of pitch and yaw dampers made these motions completely stable and the model could then be controlled very easily.Inkyu Sa2015-09-01Full Text Available This paper presents an algorithm and a system for vertical infrastructure inspection using a vertical take-off and landing ( VTOL unmanned aerial vehicle and shared autonomy. Inspecting vertical structures such as light and power distribution poles is a difficult task that is time-consuming, dangerous and expensive.
Recently, micro VTOL platforms (i.e., quad-, hexa- and octa-rotors have been rapidly gaining interest in research, military and even public domains. The unmanned, low-cost and VTOL properties of these platforms make them ideal for situations where inspection would otherwise be time-consuming and/or hazardous to humans. There are, however, challenges involved with developing such an inspection system, for example flying in close proximity to a target while maintaining a fixed stand-off distance from it, being immune to wind gusts and exchanging useful information with the remote user. To overcome these challenges, we require accurate and high-update rate state estimation and high performance controllers to be implemented onboard the vehicle. Ease of control and a live video feed are required for the human operator. We demonstrate a VTOL platform that can operate at close-quarters, whilst maintaining a safe stand-off distance and rejecting environmental disturbances.
Two approaches are presented: Position-Based Visual Servoing (PBVS using an Extended Kalman Filter (EKF and estimator-free Image-Based Visual Servoing (IBVS. Both use monocular visual, inertia, and sonar data, allowing the approaches to be applied for indoor or GPS-impaired environments. We extensively compare the performances of PBVS and IBVS in terms of accuracy, robustness and computational costs. Results from simulations Sensors 2015, 15 22004 and indoor/outdoor (day and night flight experiments demonstrate the system is able to successfully inspect and circumnavigate a vertical pole.Sa, Inkyu; Hrabar, Stefan; Corke, Peter2015-01-01This paper presents an algorithm and a system for vertical infrastructure inspection using a vertical take-off and landing ( VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structures such as light and power distribution poles is a difficult task that is time-consuming, dangerous and expensive. Recently, micro VTOL platforms (i.e., quad-, hexa- and octa-rotors) have been rapidly gaining interest in research, military and even public domains. The unmanned, low-cost and VTOL properties of these platforms make them ideal for situations where inspection would otherwise be time-consuming and/or hazardous to humans.
There are, however, challenges involved with developing such an inspection system, for example flying in close proximity to a target while maintaining a fixed stand-off distance from it, being immune to wind gusts and exchanging useful information with the remote user. To overcome these challenges, we require accurate and high-update rate state estimation and high performance controllers to be implemented onboard the vehicle. Ease of control and a live video feed are required for the human operator. We demonstrate a VTOL platform that can operate at close-quarters, whilst maintaining a safe stand-off distance and rejecting environmental disturbances. Two approaches are presented: Position-Based Visual Servoing (PBVS) using an Extended Kalman Filter (EKF) and estimator-free Image-Based Visual Servoing (IBVS). Both use monocular visual, inertia, and sonar data, allowing the approaches to be applied for indoor or GPS-impaired environments.
We extensively compare the performances of PBVS and IBVS in terms of accuracy, robustness and computational costs. Results from simulations and indoor/outdoor (day and night) flight experiments demonstrate the system is able to successfully inspect and circumnavigate a vertical pole.
PMID:26340631.Yin, Xinfan; Zhang, Daibing; Fang, Qiang; Shen, Lincheng2017-10-01The quadcopter has been widely used in the field of aerial photography and environmental detection, because of its advantages of VTOL, simple structure, and easy- control. In the field of urban anti-terrorism or special operations, micro reconnaissance quadcpter has its unique advantages such as all-weather taking off and landing, small noise and so on, and it is very popular with special forces and riot police. This paper aims at the flight control problem of the micro quadcopter, for the purposes of attitude stabilization control and trajectory tracking control of the micro quadcopter, first, the modeling of the micro quadcopter is presented. And using the MATLAB/SIMULINK toolbox to build the flight controller of the micro quadcopter, and then simulation analysis and real flight test are given.
The results of the experiment show that the designed PID controller can correct the flight attitude shift effectively and track the planned tracks well, and can achieve the goal of stable and reliable flight of the quadcopter. It can be a useful reference for the flight control system design of future special operations micro UAV.Yen, J. G.; Viswanathan, S.; Matthys, C. G.1976-01-01A flight flutter testing technique is described in which the rotor controls are oscillated by series actuators to excite the rotor and airframe modes of interest, which are then allowed to decay. The moving block technique is then used to determine the damped frequency and damping variation with rotor speed.
The method proved useful for tracking the stability of relatively well damped modes. The results of recently completed flight tests of an experimental soft-in-plane rotor are used to illustrate the technique.
Included is a discussion of the application of this technique to investigation of the propeller whirl flutter stability characteristics of the NASA/Army XV-15 VTOL tilt rotor research aircraft.Zhao Weihua2011-01-01Full Text Available Motivated by the idea of multiplexed model predictive control (MMPC, this paper introduces a new framework for unmanned aerial vehicles (UAVs formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.Carter, John; Stephenson, Mark1999-01-01The NASA Dryden Flight Research Center has completed the initial flight test of a modified set of F/A-18 flight control computers that gives the aircraft a research control law capability. The production support flight control computers (PSFCC) provide an increased capability for flight research in the control law, handling qualities, and flight systems areas.
The PSFCC feature a research flight control processor that is 'piggybacked' onto the baseline F/A-18 flight control system. This research processor allows for pilot selection of research control law operation in flight.
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To validate flight operation, a replication of a standard F/A-18 control law was programmed into the research processor and flight-tested over a limited envelope. This paper provides a brief description of the system, summarizes the initial flight test of the PSFCC, and describes future experiments for the PSFCC.Roman Czyba2013-01-01Full Text Available The aim of this research is to examine the different control strategies for the unmanned aerial vehicles (UAV. The control task is formulated as an angular stabilization of the four rotor platform, and also as a tracking problem of chosen state variables. The PID algorithm has been considered in three structures in respect of the optimal control signal applied to the actuators. For better performance of the quadrotor in hover mode the cascade control system has been proposed.
The simulation results of attitude control with different PID controller architectures are presented, and confirm the effectiveness of the proposed control structure and theoretical expectations. Moreover, the design and the practical realization of the control architecture on the experimental aerial vehicle are described. The fast prototyping method together with Matlab/Simulink software and DAQ hardware are used for both evolution and validation of control algorithms. The capacity of the attitude stabilization system is important in the development process of more advanced functionality of autonomous flying vehicles; therefore it needs to be highlighted and taken into careful consideration.Bachelder, Edward N. (Inventor); Lee, Dong-Chan (Inventor); Aponso, Bimal L. (Inventor)2011-01-01The present invention provides computer implemented methodology that permits the safe landing and recovery of rotorcraft following engine failure. With this invention successful autorotations may be performed from well within the unsafe operating area of the height-velocity profile of a helicopter by employing the fast and robust real-time trajectory optimization algorithm that commands control motion through an intuitive pilot display, or directly in the case of autonomous rotorcraft.
The algorithm generates optimal trajectories and control commands via the direct-collocation optimization method, solved using a nonlinear programming problem solver. The control inputs computed are collective pitch and aircraft pitch, which are easily tracked and manipulated by the pilot or converted to control actuator commands for automated operation during autorotation in the case of an autonomous rotorcraft. The formulation of the optimal control problem has been carefully tailored so the solutions resemble those of an expert pilot, accounting for the performance limitations of the rotorcraft and safety concerns.1983-12-01BASED CM USERS REQUEST, EACH C2228C C CONTROLLER IS PUT INTO THE 04CFER FORMAT FO THE PEG -FORMANCE 022290 C ANALYSIS SUSP.OUTINE9 PECrFAL. 02230 C 02231C.16X, 4�- 3 ’AND A KALMAN FILTER FOR STATE ESTIMATION.’/29X, 3340w 4 ? X $ COTPTF2.
S /.’IIX,’DATE:,A10//,1IX, 3350 - 5 ’TIME: ’PA1O////) 3360.2010-01-01. 14 Aeronautics and Space 1 2010-01-01 false Flight controls. 27.151 Section 27.151. STANDARDS: NORMAL CATEGORY ROTORCRAFT Flight Flight Characteristics § 27.151 Flight controls. (a) Longitudinal, lateral, directional, and collective controls may not exhibit excessive breakout force, friction.2010-01-01. 14 Aeronautics and Space 1 2010-01-01 false Flight controls. 29.151 Section 29.151.
STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Flight Flight Characteristics § 29.151 Flight controls. (a) Longitudinal, lateral, directional, and collective controls may not exhibit excessive breakout force, friction.Boschma, James1998-01-01. This propulsion concept holds significant promise for adaptation to UAV VTOL operations. Thrust levels demonstrated were substantially higher than achievable by the best screw type propellers, and approximately equal to those of high end helicopters.Davidson, Ron; Bosworth, John T.; Jacobson, Steven R.; Thomson, Michael Pl; Jorgensen, Charles C.2003-01-01The F-15 Advanced Controls Technology for Integrated Vehicles (ACTIVE) airplane (see figure) was the test bed for a flight test of an intelligent flight control system (IFCS).
This IFCS utilizes a neural network to determine critical stability and control derivatives for a control law, the real-time gains of which are computed by an algorithm that solves the Riccati equation. These derivatives are also used to identify the parameters of a dynamic model of the airplane. The model is used in a model-following portion of the control law, in order to provide specific vehicle handling characteristics.
The flight test of the IFCS marks the initiation of the Intelligent Flight Control System Advanced Concept Program (IFCS ACP), which is a collaboration between NASA and Boeing Phantom Works. The goals of the IFCS ACP are to (1) develop the concept of a flight-control system that uses neural-network technology to identify aircraft characteristics to provide optimal aircraft performance, (2) develop a self-training neural network to update estimates of aircraft properties in flight, and (3) demonstrate the aforementioned concepts on the F-15 ACTIVE airplane in flight. The activities of the initial IFCS ACP were divided into three Phases, each devoted to the attainment of a different objective.
The objective of Phase I was to develop a pre-trained neural network to store and recall the wind-tunnel-based stability and control derivatives of the vehicle. The objective of Phase II was to develop a neural network that can learn how to adjust the stability and control derivatives to account for failures or modeling deficiencies. The objective of Phase III was to develop a flight control system that uses the neural network outputs as a basis for controlling the aircraft. The flight test of the IFCS was performed in stages. In the first stage, the Phase I version of the pre-trained neural network was flown in a passive mode. The neural network software was running using flight data.Walker, R.; Gupta, N.1983-01-01Recent extensions to optimal control theory applied to meaningful linear models with sufficiently flexible software tools provide powerful techniques for designing flight test trajectory controllers (FTTCs). This report describes the principal steps for systematic development of flight trajectory controllers, which can be summarized as planning, modeling, designing, and validating a trajectory controller.
The techniques have been kept as general as possible and should apply to a wide range of problems where quantities must be computed and displayed to a pilot to improve pilot effectiveness and to reduce workload and fatigue.1981-01-01Techniques which address the multi-input closely coupled nature of advanced flight control applications and digital implementation issues are described and illustrated through flight control examples. The techniques described seek to exploit the advantages of traditional techniques in treating conventional feedback control design specifications and the simplicity of modern approaches for multivariable control system design.Stolarik, Brian2007-01-01.). Under the program, entitled 'Intelligent Flight Control Simulation Research Laboratory,' a variety of technologies were investigated or developed during the course of the research for AFRL/VAC.Bosworth, John2007-01-01This viewgraph presentation describes the F-15 Intelligent Flight Control System (IFCS).
The goals of this project include: 1) Demonstrate revolutionary control approaches that can efficiently optimize aircraft performance in both normal and failure conditions; and 2) Demonstrate advance neural network-based flight control technology for new aerospace systems designs.Moore, Mark D.2010-01-01Electric propulsion offers dramatic new vehicle mission capabilities, not possible with turbine or reciprocating engines; including high reliability and efficiency, low engine weight and maintenance, low cooling drag and volume required, very low noise and vibration, and zero emissions. The only penalizing characteristic of electric propulsion is the current energy storage technology level, which is set to triple over the next 5-10 years through huge new investments in this field. Most importantly, electric propulsion offers incredible new degrees of freedom in aircraft system integration to achieve unprecedented levels of aerodynamic, propulsive, control, and structural synergistic coupling. A unique characteristic of electric propulsion is that the technology is nearly scale-free, permitting small motors to be parallelized for fail-safe redundancy, or distributed across the airframe for tightly coupled interdisciplinary functionality without significant impacts in motor- controller efficiency or specific weight. Maximizing the potential benefit of electric propulsion is dependent on applying this technology to synergistic mission concepts.
The vehicle missions with the most benefit include those which constrain environmental impact (or limit noise, exhaust, or emission signatures) are short range, or where large differences exist in the propulsion system sizing between takeoff and cruise conditions.
This book constitutes the refereed proceedings of the International Second International Multi-Conference on Artificial Intelligence Technology, M-CAIT 2013, held in Shah Alam, in August 2013. The 25 revised full papers presented were carefully reviewed and selected from 110 submissions. M-CAIT 2013 hosted four special tracks in a single event: Intelligence Computation on Pattern Analysis and Robotics (ICPAIR 2013), Data Mining and Optimization (DMO 2013), Semantic Technology and Information Retrieval (STAIR 2013) and Industrial Computing & Applied Informatics (IComp 2013). The papers address issues of state-of-the-art research, development, implementation and applications within the four focus areas in CAIT: pattern recognition, data mining and optimization, knowledge technology and industrial computing. Shahrul Azman Noah. 1. Azizi Abdullah.
2. Haslina Arshad. 3.
Azuraliza Abu Bakar. 4. Zulaiha Ali Othman. 3.
Shahnorbanun Sahran. 5. Nazlia Omar. 6. Zalinda Othman. 3.
1. Faculty of Information Science & Technology University Kebangsaan Malaysia Bangi Malaysia. 2. Center for Artificial Intelligence Technology (CAIT), Faculty of Information Science and Technology Universiti Kebangsaan Malaysia Bangi Malaysia.
3. Universiti Kebangsaan Malaysia Bangi Malaysia.
4. School of Computer Science, FTSM Universiti Kebangsaan Malaysia Bangi Malaysia. 5. Pattern Recognition Research Group, CAIT, Faculty of Information Science and Technology Universiti Kebangsaan Malaysia Bangi Malaysia. 6. Faculty of Information Science & IT National University of Malaysia Bangi Malaysia.
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