Ahmed Elsayed; Ashraf Hafez; A. N. Ouda; Hossam Eldin Hussein Ahmed; Hala Mohamed Abd-Elkader

Design of Longitudinal Motion Controller of a Small Unmanned Aerial Vehicle

Full Text (PDF, 1309KB), PP.37-47

Views: 0 Downloads: 0

Author(s)

Ahmed Elsayed ^1,* Ashraf Hafez ¹ A. N. Ouda ² Hossam Eldin Hussein Ahmed ³ Hala Mohamed Abd-Elkader ¹

1. Shoubra Faculty of Engineering, Benha University, Egypt

2. Military technical college, Cairo, Egypt

3. Faculty of Electronic Engineering, Menufiya University, Menouf, Egypt

* Corresponding author.

DOI: https://doi.org/10.5815/ijisa.2015.10.05

Received: 27 Jan. 2015 / Revised: 6 May 2015 / Accepted: 11 Jul. 2015 / Published: 8 Sep. 2015

Index Terms

Nonlinear equations of motion, longitudinal motion controller, pitch tracker, altitude hold controller, sensors noise, environment effects

Abstract

The need for autonomous Unmanned Aerial Vehicles (UAVs) is very interesting nowadays. Autonomous UAVs provide the possibility of performing tasks and missions that are currently hazardous or can cost humans or money, enable autonomous search, persistent combat intelligence, surveillance and reconnaissance (ISR), and many other applications. This paper presents an overview of autopilot design with a detailed design of longitudinal autopilot of a Small Unmanned Aerial Vehicle (SUAV). The designed autopilot is applied to an Ultrastick-25e fixed wing UAV depending on longitudinal linear model and analytic linear model with trimmed values of straight and leveling scenario. The longitudinal motion controller design is started with the design of most inner loop (pitch rate feedback) of the longitudinal system, then pitch tracker design with a Proportional Integral (PI)- controller. The guidance and control system is related with the design of altitude hold controller with P-controller as an example of outer loop controller design. The performance of two classic controller approaches for the design of autopilot are compared and evaluated for both linear and non-linear models. The proposed controller is chosen for design due to its higher performance than the classic one. At last the climbing turn scenario is applied to the whole autopilot (longitudinal and lateral) for the evaluation process. The results show a good performance in both disturbance rejection and robustness against sensors noise.

Cite This Paper

Ahmed Elsayed, Ashraf Hafez, A. N. Ouda, Hossam Eldin Hussein Ahmed, Hala Mohamed Abd-Elkader,"Design of Longitudinal Motion Controller of a Small Unmanned Aerial Vehicle", International Journal of Intelligent Systems and Applications(IJISA), vol.7, no.10, pp.37-47, 2015. DOI:10.5815/ijisa.2015.10.05

Reference

[1]Ahmed. H.E.H., Kamal. E., Elsayed. A.," Telemetry Microcomputer Application in Satellites OBC", IEEE, 2009 DOI: 10.1109/AHICI.2009.5340347.
[2]Sridhar Bandaru, Amarjot Singh,"Advanced Mobile Surveillance System for Multiple People Tracking", IJISA, vol.5, no.5, pp.76-84, 2013.DOI: 10.5815/ijisa.2013.05.09
[3]Reed Siefert Christiansen, ”Design Of An Autopilot For Small Unmanned Aerial Vehicles” ,Brigham Young University, August 2004.
[4]Gleason, D. Gebre-Egziabher," GNSS Applications and Methods" Artech House, Boston, 2009.
[5]Farid Colnaraghi, Benjamin C.kuo, "Automatic Control Systems, 9th Ed.", John Wiley & Sons, 2010.
[6]kimono P. Valvanis. George J. Vachtsevanos, "Handbook Of Unmanned Aerial Vehicles", Springer Science, 2015.
[7]Iman Nazari, Ali Hosainpour, Farzin Piltan, Sara Emamzadeh, Mina Mirzaie,"Design Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator", IJISA, vol.6, no.4, pp.63-75, 2014. DOI: 10.5815/ijisa.2014.04.07
[8]Sanaz Yadegar, Azura binti Che Soh,"Design Stable Robust Intelligent Nonlinear Controller for 6- DOF Serial Links Robot Manipulator", IJISA, vol.6, no.8, pp.19-38, 2014. DOI: 10.5815/ijisa.2014.08.03
[9]Katsuhiko Ogata, "Modern Control Engineering 5th Ed.", Prentice Hall, 2010.
[10]R. C. Nelson, "Flight Stability And Automatic Control 2nd Ed.", New York. McGraw-Hill. (1998).
[11]D. Tyreus and W. L. Luyben, "Tuning PI Controllers For Integrator/Dead Time Processes", Industrial and Engineering Chemistry Research, vol. 31, no. 11, (1992), pp. 2625-2628.
[12]Stewart, "Calculus: Early Transcendentals, 7th Ed.". Thomson Brooks/Cole, Belmont, 2011.
[13]Elsayed. A, Hafez. A, Ouda. AN, Ahmed H.E.H., Abd-Elkader H.M, "Modeling of a Small Unmanned Aerial Vehicle", international journal of mechanical, aerospace, industrial and mechatronics engineering Vol: 9, No: 3 413-421 2015.
[14]MathWorks Inc., Matlab & Simulink, (2012).
[15]C. Yun and X.-M. Li, “Aerodynamic Model Analysis and Flight Simulation Research of UAV Based on Simulink”, Journal of Software Engineering and Applications, vol. 6, (2013), pp. 43-47.
[16]G. F. Franklin, J. D. Powell, and M.Workman, "Digital Control of Dynamic Systems" Pearson Education, 3rd ed., 2005.
[17]M. Chiaramonti and G. Mengali, “Control Laws For A Formation Of Autonomous Flight Vehicles”, Aeronautical Journal, vol. 113, no. 1147, (2009), pp. 609-616.
[18]Randal W.Beard, Timothy W.Mclain, “Small Unmanned Aircraft: Theory and Practice”, Princeton university press, 2012.
[19]B. L. Stevens and F. L. Lewis, “Aircraft Control and Simulation, 2nd Ed.”, Hoboken, NJ: John Wiley & Sons, Inc., 2003.
[20]Murch, A., Dorobantu, A., and Balas, G., “University of Minnesota UAV Flight Control Research Group,” http://www.uav.aem.umn.edu, 5 March 2015.
[21]Mohinder S. Grewal, Angus P. Andrews," KALMAN Filtering Theory And Practice Using MATLAB, 4th Ed.", John Wiley & Sons, January 2015.
[22]Mohinder S. Grewal, Angus P. Andrews, Chris G. Bartone,"Global Navigation Satellite Systems, Inertial Navigation, and Integration, 3rd Ed.", John Wiley & Sons, 2013.
[23]T. R. BEAL. "Digital Simulation Of Atmospheric Turbulence For Dryden And Von Karman Models", Journal of Guidance, Control, and Dynamics, Vol. 16, No. 1 (1993), pp. 132-138

International Journal of Intelligent Systems and Applications (IJISA)