Content introduction
Small rotorcraft, such as model helicopters, have flight dynamics similar to similar large aircraft, but have their own unique characteristics, such as the assembly of stabilizer bars and rotors. Rigidity and built-in yaw rate feedback control, etc. In addition, the limited load capacity also increases the difficulty of upgrading from a small rotorcraft to a fully functional unmanned aerial vehicle. According to its various characteristics and limitations, we need to carefully design a light-weight and effective airborne system, equipped with corresponding airborne and ground station software, to meet the needs of system identification and automatic flight.
Main research
"Unmanned Rotorcraft System" will discuss these issues in detail. This monograph also highlights the research on vision-based ground target tracking, coordinated control, and multi-aircraft formation flying.
Contents
Chinese and English terminology comparison table
English abbreviations, English full names, Chinese full names
A/ DAnalogtoDigital analog/digital conversion
AHRSAttitudeandHeadingReferenceSystem
AoAAngleofAttack angle of attack
CAMCAMerasoftwaremodule camera software module
CAMSHIFTContinuouslyAdaptiveMeanSHIFT Continuous adaptive mean shift
CCDChargeCoupledDevice charge coupled device
CEPCircularErrorProbable circular probability error
CFCompactFlash compact flash memory
CGCenter of Gravity Center of gravity
CIFERComprehensiveIdentificationfromFrEquencyResponses frequency domain comprehensive identification software
CMOSComplementaryMetal-Oxide-Semiconductor complementary symmetrical metal oxide semiconductor
CMMCoMMunicationsoftwaremodule communication software module
CORBACommonObjectRequestBrokerArchitecture general object requirement proxy structure
CPUCentralProcessingUnit central processing unit
CTLConTroLsoftwaremodule control software module
D/ADigitaltoAnalog digital/analog conversion
DAQDataAcQuisition data acquisition software module
DARPADefenseAdvancedResearchProjectsAgency U.S. Department of Defense Advanced Research Projects Agency
DCDirectCurrent
DGPSDifferentialGlobalPositioningSystem differential global positioning system
DLGDataLoGgingsoftwaremodule data logging software module
DoFDegreeofFreedom degree of freedom
DSPDigitalSignalProcessing digital signal processing
ECEFE Arth-Centered Earth-Fixed geocentric fixed coordinate system
EKFExtendedKalmanFilter
EMIElectroMagneticInterference electromagnetic interference
FPSFramesPerSecond frames/second
GCSGroundControlStation ground control station
GPSGlobalPositioningSystem global positioning system
GUIGraphicalUserInterface graphical user interface
HITLHardware-In-The-Loop simulation
p>HSVHue, Saturation, Valuecolorspace Hue/Saturation/Gray Color Space
Continued Table
English abbreviations in English full name in full Chinese name
IMGIMaGesoftwaremodule Image processing software module
IMUInertialMeasurementUnit inertial measurement unit
INSInertialNavigationSystem inertial navigation system
I/OInput/Outputport input/output port
JPEGJointPhotographicExpertsGroup Joint Photographic Experts Group
LiPoLithiumPolymer battery
LMM Lightweight Multirole Missile lightweight multi-role missile
LQRLinearQuadraticRegulator linear quadratic regulator
MAVMicroAerialVehicle micro-aircraft
MEMSMicroElectronicMechanicalSystem
MFCMicrosoftFoundationClass Microsoft Foundation Class
MIMOMultiInput/Multi Output multiple input and multiple output
MTEMissionTaskElement task primitive
NANotApplicable is not available
NAVNAVigationsoftwaremodule navigation software module
NEDNorthEastDowncoor dinatesystem North East coordinate system
NiCdNickelCadmiumbattery nickel-chromium battery
NiMhNickelMetalhydridebattery nickel-metal hydride battery
NUSNationalUniversity of Singapore
>OCPOpenControlPlatform open control platform
OpenGLOpenGraphicalLibrary open graphics library
PCIPeripheralComponentInterconnect peripheral device interface
PCMPulseCodeModulation pulse code modulation
PDProportional Derivative proportionalderivative
PIDProportionalIntegralDerivative proportionalintegralderivative
PPMPulsePositionModulation pulse position modulation
RCRadioControlled radio control
RFIRadioFrequencyInterference radio frequency interference
RGBRed,Green,Bluecolorspace red/green/blue color space
RPMRevolutionsPerMinute turn/minute
RPTRobustandPerfectTracking robust and complete tracking
RTKReal-TimeKinematic real-time motion
RTOSReal-TimeOperatingSystem real-time operating system
SAVSAVesoftwaremodule storage software module
SBCSingleBoardComputer single board computer
SISOSingleInput/SingleOutput single input single output
SVOSerVOsoftwaremodule servo software module
TPPTipPathPlane propeller tip trajectory plane
UAVUnmannedAerialVehicle None Human aircraft
UKFUnscentedKalmanFilter Unscented Kalman Filter
VDEVirtualDesignEnvironment virtual design environment
WGSWorldGeodetic System World Geographic System
Symbol Table
Listed below are all the key parameter symbols related to the rotorcraft flight dynamics modeling, and the corresponding physical description and unit ( If there is).
Coupling coefficient of Abs from bs to as (s-1)
Link gain of Alon from δlon to θcyc, as (rad)
As main Rotor blade first-order longitudinal swing angle (rad)
Bas coupling coefficient from as to bs (s-1)
Blat link gain from δlat to θcyc,bs ( rad)
bmr main rotor blade number
bs main rotor blade first-order lateral swing angle (rad)
btr tail rotor blade number
p>CD0 main rotor blade drag coefficient
Clon link gain from δlon to stabilizer bar longitudinal pitch angle (rad)
Clα,hf horizontal fin tail The slope of the lift curve (rad-1)
The slope of the lift curve of the Clα,mr main rotor blade (rad-1)
The slope of the lift curve of the Clα,sb stabilizer blade ( rad-1)
The slope of the lift curve of the Clα,tr tail rotor blade (rad-1)
The slope of the lift curve of the Clα,vf vertical fin tail (rad-1)
cmr main rotor blade chord length (m)
cs stabilizer bar first-order longitudinal swing angle (rad)
csb stabilizer blade chord length (m )
Chord length of ctr tail rotor blade (m)
The position of Dhf horizontal fin tail behind the center of gravity (m)
Dlat from δlat to stabilizer bar Lateral pitch angle link gain (rad)
The position of the Dtr tail rotor hub behind the center of gravity (m)
The position of the Dvf vertical fin tail behind the center of gravity (m)
The first-order lateral swing angle of the ds stabilizer bar (rad)
Emr main rotor blade hinge effective offset (m)
Fb body axis description Aerodynamic force vector (N)
Gravity vector described by Fb,g airframe shafting (N)
Hmr position of the main rotor hub above the center of gravity (m)
The position of the Htr tail rotor hub above the center of gravity (m)
The position of the Hvf vertical fin above the center of gravity (m)
g local acceleration of gravity (m/ s2)
J airframe moment of inertia matrix, diagonal matrix, main diagonal elements Jxx, Jyy, Jzz (kg·m2)
KI yaw rate feedback controller Integral gain
Proportional gain of KP yaw rate feedback controller
Ka Forward gain of yaw rate feedback controller
Kcol from the total distance Gain from steering gear deflection angle to main rotor blade pitch angle
Kped gain from tail rotor steering gear deflection angle to tail rotor blade pitch angle
Ksb from stabilizer bar Waving horns Gain to the periodic pitch angle of the main rotor blades
Kβ main rotor swinging motion spring constant (N·m)
Lmr, Mmr, Nmr The aerodynamic moment produced by the main rotor is in the body Component of axis X, Y, Z axis (N·m)
Lvf, Nvf The component of aerodynamic torque generated by the vertical fin tail on the axis X, Z of the body (N·m)
Ltr, the component of the aerodynamic moment produced by the Ntr tail rotor on the X and Z axis of the airframe shafting (N·m)
The aerodynamic moment resultant torque vector described by the Mb airframe shafting ( N·m)
The component of the aerodynamic moment generated by the Mhf horizontal fin tail on the Y-axis of the airframe shaft system (N·m)
m The total mass of the unmanned aerial vehicle (kg)
The gear ratio of the ntr tail rotor to the main rotor
p, q, r the angular rate described by the airframe shafting (rad/s)
Pc main rotor climb Power (W)
Pi main rotor induced power (W)
Pn The position vector described by the local NED shaft system, consisting of elements xn, yn, zn (m)
Ppa main rotor parasitic power (W)
Ppr main rotor type resistance power (W)
Rn/b rotation matrix from the body shaft system to the NED shaft system
p>Re Reynolds number
Rmr main rotor blade radius (m)
Rsb,in stabilizer bar blade inner diameter (m)
Rsb ,out outer diameter of stabilizer bar paddle (m)
Rtr tail rotor paddle radius (m)
S transformation matrix from Euler angle derivative to body shaft angular velocity
p>Sfx fuselage longitudinal effective resistance area (m2)
Sfy fuselage lateral effective resistance area (m2)
Sfz fuselage vertical effective resistance area (m2)
Shf horizontal fin tail effective area (m2)
Svf vertical fin tail effective area (m2)
Tmr main rotor tension (N)
Ttr tail rotor tension (N)
The airspeed vector described by the Va airframe shafting system, each component is ua, va, wa (m/s)
Vb airframe shaft The ground speed vector described by the system, each component is u, v, w (m/s)
The ground speed vector described by the VnNED shaft system, each component is un, vn, wn (m/s)
The wind speed vector described by the Vwind airframe shaft system, each component is uwind, vwind, wwind (m/s)
vi, mr main rotor induced speed (m/s)
vi,tr tail rotor induced speed (m/s)
vvf vertical fin tail local lateral airspeed (m/s)
v^2mr main rotor pull Calculated intermediate variable
v^2tr tail rotor Intermediate variable for pulling force calculation
ωhf local vertical airspeed of horizontal fin tail (m/s)
x, y, z local NED axis position coordinates (m) p>
xn, yn, zn local NED shaft system position coordinates (m)
Xmr, Ymr, Zmr the aerodynamic force generated by the main rotor on the X, Y, Z axis of the body shaft system (N)
The aerodynamic force generated by the Xfus, Yfus, Zfus fuselage on the axis X, Y, and Z of the fuselage (N)
The gas generated by the Ytr tail rotor The component of power on the Y-axis of the body shafting (N)
The aerodynamic force generated by the Yvf vertical fin tail on the Y-axis of the body shafting (N)
Zhf horizontal fin The component of the aerodynamic force generated by the tail on the Z axis of the body shafting (N)
αst stall critical angle of attack (rad)
γmr main rotor Lock number
γsb Stabilizer Lock Number
δcol Standardized Total Pitch Servo Input[-1,1]
δlat Standardized Rolling Servo Input[-1,1]
δlon standardized pitch servo input [-1,1]
δped standardized yaw rate feedback controller input [-1,1]
δped,int yaw The internal state variables of the angular rate feedback controller
δ-ped
Tail rotor steering gear input (rad)
θcol Main rotor pitch angle (rad)
θcyc,as main rotor longitudinal pitch angle (rad)
θcyc,bs main rotor lateral pitch angle (rad)
θped tail rotor total pitch Angle (rad)
λvf vertical fin tail is at the tail rotor wake flow mark
ρ air density (kg/m3)
τmr main rotor bare propeller time constant (S)
τsb stabilizer bar time constant (s)
,θ,ψ Euler angle (rad)
Ωmr main rotor speed (rad/ s)
Ωtr tail rotor speed (rad/s)
ωbb/n The angular velocity vector described by the airframe shafting, each component is p, q, r (rad/s)
Contents
Chapter 1 Introduction
1.1 Introduction
1.2 Brief history of small rotorcraft
1.3 Basic composition
1.3.1 Radio controlled rotorcraft
1.3.2 Avionics system
1.3.3 Manual operation backup
1.3.4 Ground control station
1.4 Software system design and integration
1.4.1 Real-time airborne software system
1.4.2 Ground station software system
1. 5 Flight dynamics modeling
1.5.1 Basic modeling method
1.5.2 System and parameter identification
1.6 Flight control system
1.7 Application Examples
1.8 Chapter Overview
Chapter 2 Coordinate System and Transformation
2.1 Introduction
2.2 Coordinate System
2.2.1 Geodetic coordinate system
2.2.2 Geocentric fixed coordinate system
2.2.3 Local NED coordinate system
2.2 .4 Airborne NED coordinate system
2.2.5 Airframe axis coordinate system
2.3 Coordinate conversion
2.3.1 Basic knowledge
2.3.2 Coordinate Transformation
Chapter 3 Platform Design and Construction
3.1 Introduction
3.2 Selection of Virtual Design Environment
3.3 Components Choice of
3.3.1 Radio controlled helicopter
3.3.2 Flight control computer
3.3.3 Navigation sensor
3.3.4 Peripheral sensors
3.3.5 fail-safe steering gear controller
3.3.6 wireless modem
3.3.7 battery
3.3. 8 Visual information processing computer
3.3.9 Vision sensor
3.3.10 Image capture card
3.3.11 PTZ servo mechanism
3.3.12 Video transmission and reception
3.3.13 Manual control
3.3.14 Ground control station
3.4 Avionics system design and integration
3.4.1 Layout design
3.4.2 Vibration reduction design
3.4.3 Power supply design
3.4.4 Shield design
3.5 Performance Evaluation
Chapter 4 Software System Design and Integration
4.1 Introduction
4.2 Airborne Software System
4.2 .1 Structural design
4.2.2 Task management
4.2.3 Automatic control realization
4.2.4 Emergency treatment
4.2. 5 Visual processing software
4.3 Ground station software system
4.3.1 Ground station software hierarchy
4.3.2 Three-dimensional view development
4.4 Software System Evaluation
Chapter 5 Measurement Signal Enhancement
5.1 Introduction
5.2 Extended Kalman Filter
5.3 GPS Assistance INS dynamic model
5.3.1 heading and attitude reference system dynamic model
5.3.2I NS (or inertial navigation system dynamic model)
5.4 Extended Kalman filter design
5.4.1 Accelerometer-based heading and attitude reference system extended Kalman filter
5.4.2 Extended Kalman filter for heading and attitude reference system based on magnetometer
5.4.3 Extended Kalman filter for GPS/INS navigation system
5.5 Performance evaluation
Chapter 6 Flight Dynamics Modeling
6.1 Introduction
6.2 Model Structure
6.2.1 Airframe Kinematics
>6.2.2 Airframe dynamics characteristics
6.2.3 Main rotor swing dynamics characteristics
6.2.4 Yaw rate feedback controller
6.3 Parameter determination
6.3.1 Direct measurement
6.3.2 Ground experiment
6.3.3 Estimating parameters based on wind tunnel data
6.3.4 Flight experiment
6.3.5 Fine adjustment
6.4 Model verification
6.5 Flight envelope confirmation
Chapter 7 Inner loop flight control
7.1 Introduction
7.2H∞ control technology
7.3 Inner loop control system design
7.3.1 Model linear
7.3.2 Description of the problem
7.3.3 Selection of design indicators
7.3.4H∞ control law
7.4 Performance Evaluation
Chapter 8 Outer Loop Flight Control
8.1 Introduction
8.2 Robust and Complete Tracking Control
8.3 Outer Loop Control System Design
8.4 Performance Evaluation
Chapter 9 Flight Simulation and Experiment
9.1 Introduction
9.2 Flight Planning
9.2.1 Front fly up/stop
9.2.2 Hover
9.2.3 Rear fly/stop
9.2.4 Hover and rotate
9.2.5 Vertical maneuvering
9.2.6 Lateral repositioning
9.2.7 Rotary calibration
9.2.8 Ski
9.2.9 Centripetal rotation
9.2.10 Connection of task primitives
9.3 Hardware-in-the-loop simulation settings
9.4 Simulation And flight experiment results
Chapter 10 Multi-UAV Formation Flying
10.1 Introduction
10.2 Long Aircraft-Wingman Formation
10.2 .1 Formation flight coordinate system
10.2.2 Kinematics model
10.3 Collision avoidance
10.4 Flight test results
No. 11 Chapter Vision-based Target Tracking
11.1 Introduction
11.2 Coordinate System in Visual Tracking
11.3 Camera Calibration
11.3.1 Camera Model
11.3.2 internal parameter estimation
11.3.3 distortion compensation
11.3.4 simplified camera model
11.4 based on vision Ground Target Tracking
11.4.1 Target Detection
11.4.2 Image Tracking
11.4.3 Target Tracking Control
11.5 Experiment Results
References