Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control Law Design for a Tilt-rotor Unmanned Aerial Vehicle with a Nacelle Mounted WE (Wing Extension)

체공성능 향상을 위한 확장날개 틸트로터 무인기의 제어법칙설계

  • Kang, Young-Shin (Korea Aerospace Research Institute, Future Aircraft System Division) ;
  • Park, Bum-Jin (Korea Aerospace Research Institute, Future Aircraft System Division) ;
  • Cho, Am (Korea Aerospace Research Institute, Future Aircraft System Division) ;
  • Yoo, Chang-Sun (Korea Aerospace Research Institute, Future Aircraft System Division)
  • 강영신 (한국항공우주연구원 미래비행체계실) ;
  • 박범진 (한국항공우주연구원 미래비행체계실) ;
  • 조암 (한국항공우주연구원 미래비행체계실) ;
  • 유창선 (한국항공우주연구원 미래비행체계실)
  • Received : 2014.08.30
  • Accepted : 2014.09.29
  • Published : 2014.11.01
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Abstract

The results of control law design for a tilt-rotor unmanned aerial vehicle that has a nacelle mounted wing extension (WE) are presented in this paper. It consists of a control surface mixer, stability and control augmentation system (SCAS), hold mode for altitude / speed / heading, and a guidance mode for preprogram and point navigation which includes automatic take-off and landing. The conversion corridor and the control moments derivatives between the original tilt-rotor and its variant of the nacelle mounted WE were compared to show the effectiveness of the WE. The nacelle conversion of the original tilt-rotor starts when the airspeed is greater than 30 km/h but its WE variant starts at 0 km/h in order to reduce the drag caused by the high incidence angle of the WE. The stability margins of the inner loop are presented with the optimization approach. The outer loops for the hold mode are designed with trial and error methods with linear and nonlinear simulation. The main control parameter for altitude control of the helicopter mode is thrust command and it is transferred to the pitch attitude command in airplane mode. Otherwise, the control parameter for the speed of the helicopter mode is the pitch attitude command and it is transferred to the thrust command in airplane mode. Therefore the speed and altitude hold mode are coupled to each other and are engaged at the same time when an internal pilot engages any of the altitude or speed hold modes. The nonlinear simulation results of the guidance control for the preprogrammed mode and point navigation are also presented including automatic take-off and landing in order to prove the full control law.

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