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OVERVIEW

y UNMANNED AERIAL VEHICLES y FLIGHT MECHANICS y CONTROL SYSTEM y CONTROL ALGORITHM y CONTROL SYSTEM SAFETY y CONTROL SYSTEM FAILURE MODES y ADVANTAGES y REFERENCES

Reconfiguration
 Reconfiguration in case of aerial vehicles means

that,the most critical functions,needed for vehicle controllability,can be taken over by another node of the system if the primary node fails.

 Examples of reconfigurable autopilots are RAMA

UAV,Yamaha RMAX R-UAV etc..

UNMANNED AERIAL VEHICLES




Unmanned Aerial vehicle also known as UAS(Unmanned Aircraft System) UAS is the term introduced by the Federal Aviation Administration (FAA) & adopted by United States Department of Defense (DOD) & Civil Aviation Authority(UK) High altitude aircraft controlled by personnel on ground. Generally used for scientific/commercial research missions

 The earliest unmanned aerial vehicle was Hewitt-Sperry

Automatic Airplane after World War 1.

 The modern Remote Piloted Vehicle (RPV) era began in

1959

 UAV consist of Unmanned Aircraft(UA), the Control

System & other related support equipment.

 It also called Drones, Remotely Piloted Vehicle (RPV).  Example:- RQ-7 SHADOW, RQ-5 HUNTER, RQ-11

RAVEN etc.

control system used in UAVs


 RAMA UAV control system.  RAMA stands for Remotely Operated Aerial Model

Autopilot.

 It is a universal ,lightweight,and compact autopilot for small UAVs.  It is an open project,held at the Department of Control Engineering,Faculty of Electrical Engineering of the Czech Technical University in Prague .

t rcraft UAV q ipp

with th

AMA syst

Flig t Mec anics


y Two reference frames-Earth

frame,body frame. y xyz-Earth frame,XYZ-body frame y X,Y,and Z axes are sometimes called roll( ),pitch( ) and yaw( ) axes of the vehicle. y Conversion from one frame to another is given by rotation matrix R=R1.R2.R3

Control System block diagram

Control Algorit m
 The vehicle control algorithm had been designed to

control a rotorcraft UAV. Five separate layers.  Angular Rate Control Layer ( ARCL)- is responsible for the angular rates stabilization in the three vehicle axes.  Attitude Control Layer( ACL)- serves for the attitude stabilization,  Velocity Control Layer (VCL)-controls the vertical and horizontal velocities of the vehicle.  Position Control Layer(PCL)-is used to stabilize the vehicle position in space.  Trajectory Tracking Layer (TTL) is responsible for the vehicle guidance along a pre-set trajectory.

Control Algorit m Layered structure

Control System Safety


y UAV control system is undoubtedly a critical system,

and must have a reasonable safety margin to be of any practical use.

y An out-of-control UAV might cause property damage. y RAMA is designed so that for most of the failures, there

is an appropriate Failure Mode the system can engage, in order to preserve the critical functions for the sake of some high-level functionality loss.

y The only critical node of the system is the Servo Control

Unit (SCU), whose complete failure would definitely lead to grave consequences.

y Partial or complete failure of any other system part (the

MCC, DAM, or some/all of the sensors) would lead to the loss of some functionality, but would definitely preserve the semi-automatic or at least fully manual control of the vehicle.

Control System Failure modes


y MCC Failure Modes: y In case of the MCC failure the only viable solution is to

put the Servo Control Unit (SCU) into the Manual Control Mode (MCM).

y In this mode, the SCU takes over the direct control of the

actuators and runs unaffected by the rest of the system. MCC or other nodes and actuates the control surfaces directly according the control stick positions.

y It ignores any commands possibly coming from the faulty

State diagram of RAMA s failure modes

Navigation Unit Failure modes


y The Data Acquisition Module (DAM) failure makes the

system enter the Manual Control Mode (upon the pilot s command).

y Failure of any of the sensors is detected by the DAM. y A possible DAM restart after the watchdog reset would

only take about 50 ms, which is fast enough compared to the vehicle dynamics.

Role of MCC in NU
y The DAM failures are detected by the MCC. y An unexpected DAM reset is monitored and reported by

the MCC.

SCU Failure Modes


y The Servo Control Unit (SCU) failure would inevitably

lead to the vehicle loss. y The system would enter the Critical Failure Mode (CFM). y SCU is equipped with a watchdog timer, ensuring a restart in the case of a microcontroller hang up. A full restart of the SCU is fast enough (it takes about 50 ms, much like the DAM restart).

Communication Failure Modes


y In case of a data communication loss the telemetry

data packets are stored in a buffer and sent off-line as soon as the data link is re-established.

y Failure of the wireless control link would currently

make the system enter the Critical Failure Mode.

Po er Failure Modes
y Currently, there are no Battery Failure Modes - both

batteries must be in good shape to keep the system running. y 2 batteries-ACB (Actuator Battery),AVB (Avionics Battery). y A re-design of the SCU is considered, then the SCU able to run from either battery, so it can drain power from the Actuator Battery (ACB), should the Avionics Battery (AVB) fail.

SISO PID Controller Structure


y RAMA currently utilizes SISO (Single Input Single Output) y y y y y y

PID controllers at all levels of control. The controller parameters are as follows: k, i, d, m - Proportional, Integral, Derivative and FeedForward gains b, c - Reference weighting coefficients for proportional and derivative components w - Reference filter cut-off frequency n - D filter cut-off frequency h - Sampling period

ADVANTAGES
y Control systems that are fitted in UAVs has got strict

weight, low power consumption, and price limitations.

y A necessary redundancy for the most critical functions

can be achieved due to the system reconfiguration and graceful degradation in case of a failure.

REFEREN ES
1. 2. 3. rej i a, rej l - st ec fi ra le tr l yste f r all s iEEE tr s cti s i stri l electr ics, v l. 58, . 3, arc 2 11 . i a, . r a, a . a zle , tr l syste f r a e aerial ve icles, i Pr c. 5th IEEE I t. f. I . I f., 2 7, . 455 46 . ettler, I e tific ti , M eli h r cteristics fMi i t re t rcr ft,v l. I 1-4 2 -7228-7. r trec t, e ete erla s: l ver ca e ic lis ers, 2 3 . ettler, . . isc ler, a . a a e, yste i e tificati eli fa s all-scale a e elic ter, J r l f the meric Helic pter S ciety, ct er 2 1. . avrilets, . ettler, a . er , li ear y a ic el f a s allsize acr atic elic ter, i Pr c. f the I f. O G i ce, N vi ti tr l, M tre l, , 2 1.

4.

5.

6. A. Bogdanov, E. Wan, and G. Harvey, SDRE flight control for X-Cell and RMax autonomous helicopters, in Proceedings of t e 43rd I Conference on Decision and Control, December 200 . 7. J. Cham, The Ph.D. Comics. http://www.phdcomics.com . The yamaha RMAX UAV website. http://www.yamahamotor.co.jp/global/industrial/sky/solution/rmax 9. Paparazzi - The free autopilot. http://paparazzi.enac.fr.

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