簡易檢索 / 詳目顯示

回結果列表
研究生： 康心奕
Kang, Hsin-Yi
論文名稱： 超機動飛行器的四元組非線性動態反算自主飛行控制系統設計與實作
Quaternion Nonlinear Dynamic Inversion Autonomous Flight Controller for Supermaneuverable Aircraft
指導教授： 譚俊豪
Tarn, Jiun-Hao
學位類別： 碩士
Master
系所名稱： 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年： 2016
畢業學年度： 104
語文別： 英文
論文頁數： 113
中文關鍵詞： 非線性動態反算控制 、超機動飛行 、四元組 、飛行控制 、微飛行載具
外文關鍵詞： Supermaneuverable, Nonlinear Dynamic Inversion, Quaternion, Flight Control, Micro Aerial Vehicle
相關次數： 點閱：217  下載：19 
分享至:
查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報

    • 在航太產業的發展上，飛行器控制的發展一直都是重要的科技指標與挑戰。即使是現代的噴射機，高機動的飛行也仍然是最重要的設計參數之一。超機動的動作往往意味著飛行系統的天生不穩定性，用來穩定系統動態的機上飛行控制電腦已經是現代飛行器的標準配備。同時，超機動操作也代表飛行器必須能在高攻角、高迴轉率的狀態下保持受控的操作。高攻角、高迴轉率的狀態也就意味著機上的飛行控制必須有能力處裡高度非線性的系統動態。
    在這篇論文當中，我們使用非線性動態反算(Nonlinear Dynamic Inversion NDI)來應付飛行器的非線性動態。利用我們對於系統動態的全面掌握，NDI 控制器能夠根據系統動態模型，預測飛行器的行為。同時更進一步，將其非線性的反應藉由致動器抵銷，使系統輸入、輸出表現為我們所熟知的線性系統。文中，我們將介紹高攻角實驗飛行載具(high angle-of-attack research vehicle, HARV)的完整空氣動力學、以及動力學模型。同時也給出非線性動力反算的式子。
    另外，此類超機動飛機的飛行姿態上是具有高度變化的，我們會需要一種全方向的表示法，來避免傳統的尤拉角表示方式可能會產生奇異點的問題，而四元組 (Quaternion) 能滿足這個需求。利用四元組的特性，飛行的姿態能夠輕易地以直覺的方式表現。除了姿態表示以外，我們也能夠利用四元組的標準運算規則來計算重要的系統狀態，特別是空氣動力學上的參數。
    最後，論文中所發展、推導的控制演算法，除了藉由數值模擬完整的驗證系統動態以及控制器外，還必須透過實驗來完整系統的發展。我們根據全尺寸的飛具系統做了縮小版的航空模型。這個微型飛行載具(Micro Aerial Vehicle, MAV)的模型雖然是以遙控模型的技術製造，但是從從外型到控制上都設計成盡可能地趨近原始的載具。模型上也安裝了市面上能取得的飛行控制晶片以及各種感測器，前述發展的控制器和狀態估測演算也修改到其飛行韌體中。
    在這個載具系統上，我們進行了數十次、各種不同階段的實驗。在過程中，為了解決在實驗上遇到的實際問題，我們發展了各種器材與程序來導引實驗的進行。另外本論文也提出許多為了配合實驗方式而設計的控制方法或相關韌體功能，在實驗的過程中不斷累積經驗，以及改進無人載具系統的發展。最後，我在這篇論文提供了完整的自主無人載具系統的實作方法和架構。

    The control of aerial vehicle is always one of the major challenges in aerospace technology development. High agility maneuvers on fighter jets are still one of the most seriously treated properties of the modern fighter design. The ability to make aggressive maneuvers often means first, the vehicle has unstable dynamics, and second, the vehicle would constantly go through extreme dynamic conditions such as excessive angle of attack (AOA) or high rotation rate. The instability of such vehicle will require a computer assisted control system, the high α and body rate condition mean the control system would have to deal with the nonlinearity of the vehicle dynamics.
    In this thesis, we utilize the control method of Nonlinear Dynamic Inversion (NDI). The NDI is sometimes known as nonlinear feedback linearization. Basically, with full knowledge of vehicle dynamics, the controller would try to predict and cancel the nonlinear behavior of the system. With complete nonlinear aerodynamic and kinematic models of the high angle-of-attack research vehicle (HARV), Nonlinear Dynamic Inversion (NDI) control equations are derived.
    Another aspect when dealing with such agile vehicles, is their rapid changing, omni-directional nature. We need some kind of mathematics to avoid the problems of using traditional aircraft Euler-angle expressions. The quaternion is the suitable solution. Under the rules of quaternion calculation, not only the attitude of the aircraft can be represented, important states of aerodynamic angles can also be calculated via the quaternion method.
    Last but not least, the control development wouldn’t be complete without the verification of experiments. In addition to the numerical simulation of the aircraft model and control scenes, a micro aerial vehicle system is designed and built. The scaled down model fully mimics all aspects of the full-scale vehicle from aerodynamic configuration to actuators. This aircraft model is fitted with powerful commercially available flight controller and sensors. State estimation algorithms using quaternion for such MAV flight controller are implemented into the firmware to provide constant and stable execution of the program.
    Dozens of experiments are carried out along the process of developing the MAV system. Assisting equipment and procedures are invented to guide the process. Control algorithms and practical logic sequences designed for the experiment are developed and implemented. Experiences, methods, and solutions to constructing the aircraft build up along the path. The complete autonomous aerial vehicle system is presented in this thesis.

    Table of Contents Abstract I 中文摘要 III Acknowledgement V List of Tables IX List of Figures X Notation Conventions XII General Notation Conventions XII Notation Convention for Quaternion XII Notation Conventions for Dynamics and Aerodynamics XII Notation Conventions for Control XIII Chapter 1 Introduction 1 Chapter 2 Kinematics of Frames 3 2.1 Aircraft Reference Frames 4 2.1.1 Tait-Bryan angles 4 2.1.2 Direction of travel 5 2.1.3 Aerodynamic relationship 7 2.1.4 Time derivative of travel direction 7 2.2 Quaternion 9 2.2.1 Quaternion representation 10 2.2.2 Rotation of quaternion 12 2.2.3 Coordinate transfer with quaternion and rotational matrix 13 2.2.4 Quaternion and Euler angle 14 2.2.5 Aerodynamic angles and quaternions 16 2.2.6 Time derivative of quaternion 17 2.2.7 Time derivative of flight direction quaternion 19 Chapter 3 Dynamic Modeling 24 3.1 Aircraft Rigid Body Dynamics 24 3.1.1 Angular momentum 24 3.1.2 Linear momentum 25 3.1.3 Moments on an aerial vehicle 26 3.1.4 Forces on an aerial vehicle 26 3.1.5 Dynamics of aerodynamic angles 28 3.2 Vehicle Characteristics 29 3.2.1 Aerodynamics 29 3.2.2 Thruster and actuators 34 3.2.3 Vehicle characteristics 35 Chapter 4 Vehicle Controller 37 4.1 Fast-loop NDI 39 4.2 Slow-loop NDI 43 4.3 Maneuver Generator 46 4.4 Gain Scheduling Controller 49 4.4.1 Longitudinal acceleration 49 4.4.2 Lateral motion 50 4.4.3 Outer-loop attitude control 51 4.5 Baseline Attitude Controller 54 4.6 Bandwidth Reduction 56 Chapter 5 Simulation 59 5.1 Simulink Model Design 59 5.2 Data Managing and Visualization 62 5.3 Results of Simulation 63 5.3.1 Simulation of NDI and maneuver generator 63 5.3.2 Simulation of gain scheduling controller and maneuver generator 64 5.4 Source Distribution 66 Chapter 6 Implementation 67 6.1 Vehicle Design 68 6.1.1 Structural hardware design 68 6.1.2 Vehicle construction 69 6.1.3 Powerplant and power source 71 6.1.4 Actuators 73 6.1.5 Avionics 74 6.2 Vehicle Characteristics 78 6.3 Autopilot System 81 6.3.1 ArduPilot source code 82 6.3.2 Customization of the ArduPilot source code 83 Chapter 7 Experiments and Results 85 7.1 Base-line Controller 86 7.2 Aerodynamic Angle Estimator 89 7.3 NDI Controller 90 Chapter 8 Discussions 95 8.1 Discussion of the Experiment Results 95 8.1.1 Position of CG 96 8.1.2 Human factor and trajectory stabilizer 97 8.1.3 Manufacturing improvement 97 8.1.4 Model accuracy 98 8.2 Future Works 98 8.2.1 Trajectory stabilizer 98 8.2.2 SLAM and online trajectory generation 99 8.3 Conclusion 101 Chapter 9 References 102 Chapter 10 Appendix 106 Appendix A: Figures of Aerodynamic Coefficients 106 Appendix B: Matrix Elements From Deflection to Acceleration 110 Appendix C: Scheduled Gains for Lateral Regulated Variables 111 Appendix D: Material Properties of Scaled Model 113

    [1] S. A. Snell, "Nonlinear dynamic-inversion flight control of supermaneuverable aircraft," University of Minnesota, Minneapolis, MN, 1991.
    [2] Daniel J. Bugajski and Dale F. Enns, "Nonlinear Control Law with Application to High Angle-of-Attack Flight," Journal of Guidance, Control, and Dynamics, vol. 15, no. 3, May-June 1992.
    [3] David F. Fisher, John H. Del Frate, and David M. Richwinc, "In-Flight Flow Visualization Characteristics of the NASA F-18 High Alpha Research Vehicle at High Angles of Attack," Technical Memorandum4193, NASA, Edwards, CA, 1990.
    [4] Adam Jir´asekand Russell M. Cummings, "Application of Volterra functions to X-31 aircraft model motion," in 27th AIAA Applied Aerodynamics Conference, San Antonio, Texas, 2009.
    [5] N. Anton,R. M. Botez, and D. Popescu, "Stability derivatives for a delta-wing X-31 aircraft validated using wind tunnel test data," in Proc. IMechE Vol. 225 Part G: J. Aerospace Engineering, 2010.
    [6] "NASA Armstrong Fact Sheet: X-31 Enhanced Fighter Maneuverability Demonstrator," NASA, 1 March 2014. [Online]. Available: http://www.nasa.gov/centers/armstrong/news/FactSheets/FS-009-DFRC.html.
    [7] David L. Williams II, Robert C. Nelson, David F. Fisher, "Free To Roll Tests Of X-31 And F-18 Subscale Models With Correlation To Flight Test Results," NASA, Edwards, California.
    [8] F. M. Sobolic, "Agile Flight Control Techniques for a Fixed-Wing Aircraft," MASSACHUSETTS INSTITUTE OF TECHNOLOGY, 2009.
    [9] S. Antony Snell, Dale F. Enns, and William L. Garrard Jr., "Nonlinear Inversion Flight Control for a Supermaneuverable Aircraft," vol. 15, no. 4, July-August 1992.
    [10] "PIXHAWK: A system for autonomous flight using onboard computer vision," in International Conference of Robotics and Automation (ICRA), , Shanghai, 2011.
    [11] "ArduPilot Autopilot Suite," [Online]. Available: http://ardupilot.com/.
    [12] J. D. J. Anderson, Fundamantals of Aerodynamics, McGraw-Hill, 2007.
    [13] Nikolas Trawny and Stergios I. Roumeliotis, "Indirect Kalman Filter for 3D Attitude Estimation," University of Minnesota, 2005.
    [14] W. G. Breckenridge, "Quaternions - Proposed Standard Conventions," JPL, Tech. Rep. INTEROFFICE MEMORANDUM 343-79-1199, 1999.
    [15] D. M. Henderson, "Eular Angles, Quaternions, and Transformation Matrices," Mission Planning and Analysis Division, NASA, July 1977.
    [16] Thomos R. Kane, Peter W. Likins, and David A. Levinson, Spacecraft Dynamics, McGraw-Hill, 2005.
    [17] F. Lallman, "Preliminary Design Study of a Lateral-Directional Control System Using Thrust Vectoring," NASA, 1985.
    [18] NASA, "Nasa Photo ED94-42734-6," 1994. [Online].
    [19] K. F. B. a. B. E. Well, "Optimale taktische Flugmanoever fuer ein Kampfflugzeug der 90er Jahre," DFVLR, Federal Republic of Germany, 1979.
    [20] H. a. C. L. Ashley, "On the Feasiblity of Low-Speed Fighter Maneuvers Involving Extreme Angles of Attack," Stanford University, 1987.
    [21] W. B. W. a. W. P. Fellers, "Tail Configurations for Highly Maneuverable Aircraft," AGARD, 1981.
    [22] M. (. Lambert, Jane's All The Worlds Aircraft 1993-94, Jane's Publishing Company , 1993.
    [23] A. H. K. G. D. G. Erfu Yanga, "Nonlinear Tracking Control of a Car-like Mobil Robo via Dynamic Feedback Linearizatio," UK-Control, 2004.
    [24] H.-Y. Kang, "Youtube: 飛行模擬(1) Flight Simulation of X31," 22 1 2015. [Online]. Available: https://www.youtube.com/watch?v=jL97weJJUac.
    [25] H.-Y. Kang, "Youtube: 飛行模擬(2) Flight dynamics of X31 with NDI controller," 29 1 2015. [Online]. Available: https://www.youtube.com/watch?v=a23Y5BWZ3SY.
    [26] H.-Y. Kang, "YouTube: 飛行模擬(3) Flight dynamics of X31 with NDI controller and Maneuver Generator," 31 1 2015. [Online]. Available: https://www.youtube.com/watch?v=XSR8Ulsz5vY.
    [27] H.-Y. Kang, "YouTube: 飛行模擬(4) Flight dynamics of X31 with NDI controller and Maneuver Generator(2)," 26 2 2015. [Online]. Available: https://www.youtube.com/watch?v=PRFVQn-VjNo.
    [28] H.-Y. Kang, "YouTube: 飛行模擬(5~8) X31 dynamics with NDI/Gain Scheduling controller and Maneuver Generator," 27 3 2015. [Online]. Available: https://www.youtube.com/watch?v=6c_AReMsFWI.
    [29] E. Kang, "GitHub: "Dynamic And Control Model of Supermaneuverable Aircraft"," 7 07 2016. [Online]. Available: https://github.com/EwingKang/Dynamic-And-Control-Model-Of-SuperManeuverable-Aircraft.
    [30] H.-Y. Kang, "Youtube: "How to cut solid styrofoam wings 實心保麗龍翼剖面切割教學"," 12 08 2015. [Online]. Available: https://www.youtube.com/watch?v=jJmTvpVLlkM.
    [31] C. Dobler, "Development of Flight Hardware for a Next Generation Autonomous Micro Air Vehicle," 2009.
    [32] C. S. Cheung, "Shielding Effectiveness of Superalloy, Aluminum, and Numetal Shielding Tapes," California Polytechnic State University, San Luis Obispo, 2009.
    [33] H.-Y. Kang, "Youtube: "Servo and 3DR Radio Telemetry Interference Fix 數傳與伺服機干擾解決方法 "," 22 5 2016. [Online]. Available: https://www.youtube.com/watch?v=UjPWWOxpIjA.
    [34] C. Anderson, "DiyDrones," [Online]. Available: http://diydrones.com/. [Accessed 24 07 2016].
    [35] Dronecode.org, "ArduPilot.org," [Online]. Available: http://ardupilot.org/ardupilot/index.html. [Accessed 24 07 2017].
    [36] GNU.org, "GNU General Public Liscence," [Online]. Available: https://www.gnu.org/licenses/gpl-3.0.html. [Accessed 24 07 2016].
    [37] I. GitHub, "GitHub," GitHub, Inc, [Online]. Available: https://github.com/. [Accessed 24 07 2016].
    [38] ArduPilot/ardupilot, "GitHub: ArduPilot/ardupilot," GitHub. Inc., [Online]. Available: https://github.com/ArduPilot/ardupilot. [Accessed 24 07 2016].
    [39] E. Kang, "GitHub: "EwingKang / ardupilot-forX31"," 22 01 2016. [Online]. Available: https://github.com/EwingKang/ardupilot-forX31.
    [40] H.-Y. Kang, "Youtube: "Data reconstruction of X31 flight41 on 104.9.8"," 26 7 2016. [Online]. Available: https://youtu.be/fZ9CwdlTwms.
    [41] H.-Y. Kang, "Youtube: "Data visualization of X-31 flight 41 on 104.9.8"," 27 7 2016. [Online]. Available: https://www.youtube.com/watch?v=tTG0v6XjukA.
    [42] C. F. a. H. J. C. Hall, "LIFT, DRAG, AND PITCHING MOMENT OF LOW-ASPECT-RATIO WINGS AT SUBSONIC AND SUPERSONIC SPEEDS - TWISTED AND CAMBERED TRIANGULAR WING OF ASPECT RATIO 2 WITH NACA 0003-63 THICKNESS DISTRIBUTION," Ames Aero. Lab., NACA, Moffett Field, Calif., 1951.
    [43] Abraham Bachrach, Samuel Prentice, Ruijie He, Nicholas Roy, "RANGE - Robust Autonomous Navigation in GPS-denied Environments," Journal of Field Robotics, 2011.
    [44] Adam Bry, Nicholas Roy, "Rapidly-exploring Random Belief Trees for Motion Planning Under Uncertainty," in IEEE International Conference on Robotics and Automation, 2011.
    [45] Charles Richter, Adam Bry, and Nicholas Roy, "Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor Environments," in International Symposium of Robotics Research, 2013.

    下載圖示 校內：立即公開
    校外：立即公開
    QR CODE