Control system of unmanned aerial vehicle used for endurance autonomous monitoring
نویسندگان
چکیده
The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle UAV, used to local observations, surveillance and monitoring interest area. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using nonlinear model, as well as a linear one for obtaining guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and autonomous control system. This theoretical development allows us to build stability matrix, command matrix and control matrix and finally to analyze the stability of autonomous UAV flight .A robust guidance system, based on Kalman filter will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analyzed. The paper is inspired by national project SAMO (Autonomous Aerial Monitoring System for Interest Areas of Great Endurance). Key-Words: UAV, Simulation, Control, Guidance, Endurance, Surveillance, Monitoring, Kalman filter NOMENCLATURE α Attack angle (tangent definition); β Sideslip angle (tangent definition); a δ Aileron deflection; e δ Elevator deflection; 0 e δ The balance deflection angle for the elevator; r δ Rudder deflection; T δ Thrust command: ψ Azimuth angle; θ Inclination angle; φ Bank angle; ρ Air density; Ω Body angular velocity; E C B A , , , Inertia moments; A z A y A x C C C ; ; Aerodynamic coefficients of force in the mobile frame; A n A m A l C C C ; ; Aerodynamic coefficients of momentum in the mobile frame; T z T y T x C C C ; ; Thrust coefficients in the mobile frame; T n T m T l C C C ; ; Thrust momentum coefficients in the mobile frame; S V F 2 2 0 ρ = Reference aerodynamic force; l F H A o 0 = Reference aerodynamic couple; 0 T Reference thrust force; l T H T o 0 = -Reference couple thrust; l Reference length; m – Mass; r q p , , Angular velocity components along the axes of mobile frame; WSEAS TRANSACTIONS on SYSTEMS and CONTROL Teodor-Viorel Chelaru, Vasile Nicolae Constantinescu, Adrian Chelaru ISSN: 1991-8763 766 Issue 9, Volume 5, September 2010 S Reference area; T Thrust vector; t Time; V Velocity vector; w v u , , Gyroplane velocity components in a mobile frame; z y x V V V , , -Velocity components in Earth frame; 0 0 0 Z Y OX Normal Earth-fixed frame; Oxyz – Body frame (mobile frame); 0 0 0 z y x Coordinates in Earth-fixed frame.
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