• Title/Summary/Keyword: Hovering

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A Study on Hovering Flight Control for a Model Helicopter (모형 헬리콥터 정지비행제어에 관한 연구)

  • 심현철;이은호;이교일
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.18 no.6
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    • pp.1399-1411
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    • 1994
  • A model helicopter has more versatile flight capability than the fixed-wing aircraft and it can be used as an unmaned vehicle in hazardous area. A helicopter, similar to other aircrafts, is an unstable, multi-input multi-output nonlinear system exposed to strong disturbance. So it should be controlled by robust control theories that can be applied to multivariable systems. In this study, motion equations of hovering are established, linearized and transformed into a state equation form. Various parameters are measured and calculated in other to obtain the stability derivatives in the state equation. Hovering flight controller is designed using the digital LQG/LTR(Linear Quadratic Gaussian/Loop Transfer Recovery) control theory. The designed controller is tested by the nonlinear simulations and implemented on an IBM-PC/386. Experiments were carried out on a model helicopter attached to the 3-DOF gimbal. The designed controller showed satisfactory hovering capability to maintain the hovering for more than 40 seconds.

Estimation of Hovering Flight Time of Battery-Powered Multicopters

  • Cho, Mun jin;Han, Cheolheui
    • Journal of Aerospace System Engineering
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    • v.15 no.4
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    • pp.11-20
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    • 2021
  • The estimation of hovering flight time of multicopters using the battery power propulsion system is important for the development and design of the aircraft and its operation. For a given operational weight, the maximum possible battery weight can be decided using both a conventional energy density method and a new Peukert law. In the present study, the hovering flight time is predicted using both methods. The specific data of multicopters in the published literatures were employed for the computation of the hovering flight time. The results were validated with the measured data. The effect of figure of merit of propeller, battery discharging process on the hovering flight time was evaluated, Finally, the effect of the battery cell and package connection types on the hovering time was investigated. It was found that the combination of serial battery cell connections and parallel package connection is the bast in the endurance maximization aspect. As the cell number increases in a package, the hovering flight time is increased. There exists the max. battery ratio for the given takeoff gross weight.

Design of hovering flight controller for a model helicopter using a microcontroller (마이크로콘트롤러를 이용한 모형헬리콥터 정지비행 제어기 설계)

  • 박현식;이준호;이은호;이교일
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.185-188
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    • 1993
  • The goal of this paper is to develop an on-board controller for a model helicopter's hovering attitude control, using i8096 one-chip microcontroller. Required controller algorithm is programmed in ASM-96 assembly language and downloaded into an i8096 microcontroller. The performance of hovering flight using this system is verified by experiments with the model helicopter mounted on an instrumented flight stand where 3 potentiometers and an optical proximity sensor measure te attitude and main rotor speed of the helicopter.

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Development of a Hovering AUV for Underwater Explorations

  • Byun, Seung-Woo;Kim, Joon-Young
    • Journal of Ship and Ocean Technology
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    • v.11 no.2
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    • pp.1-9
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    • 2007
  • This paper describes the design and development of a hovering AUV constructed at Cheju National University and analyses the dynamic performance of the vehicle using simulation programs. The main purpose of this AUV is to carry out fundamental tests in its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general ROV appearance for underwater works and its dimensions are 0.75m*0.5m*0.5m. It has 4 thrusters of 450 watts for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an appropriate environment for developing various algorithms needed for developing and advancing Hovering AUV.

Design of Vectored Sum Defuzzification Based Fuzzy Logic System for Hovering Control of Quad-Copter

  • Yoo, Hyun-Ho;Choi, Byung-Jae
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.16 no.4
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    • pp.318-322
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    • 2016
  • A quad-copter or quad rotor system is an unmanned flying machine having four engines, which their thrust force is produced by four propellers. Its stable control is very important and has widely been studied. It is a typical example of a nonlinear system. So, it is difficult to get a desired control performance by conventional control algorithms. In this paper, we propose the design of a vectored sum defuzzification based fuzzy logic system for the hovering control of a quad-copter. We first summarize its dynamics and introduce a vectored sum defuzzification scheme. And then we design a vectored sum defuzzification based fuzzy logic system. for the hovering control of the quad-copter. Finally, in order to check the feasibility of the proposed system we present some simulation examples.

Development of Quad-rotor with Anti-Windup Based PI controller and Hovering Attitude Control Flight Test (적분누적 방지기법 기반 자세제어기를 이용한 쿼드로터 개발과 호버링 자세 제어 비행 실험)

  • Park, Daejin;Park, Cheongeon;Lee, Sangchul
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.26 no.3
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    • pp.48-54
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    • 2018
  • This paper deals with a development of a quad-rotor for a hovering attitude control. First, a rotational dynamics are derived to design an attitude controller. The attitude controller is based on PI (Proportional-Integral) controller. For a stable attitude control, an anti-windup method applies to the PI attitude controller. Additionally, a complementary filter is used to obtain more reliable attitude. Gain values of the attitude controllers based on the anti-windup method are obtained through tests. Finally, the quad-rotor with the anti-windup based PI attitude controller is developed and a hovering attitude control flight tests are performed. As a result, the developed quad-rotor is capable of stable hovering.

A Study on Yaw Control of Multi-Fan Hovering with SRFIMF (SRFIMF를 이용한 멀티팬 부상기의 YAW제어에 관한 연구)

  • 박선국;최부귀
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.17 no.4
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    • pp.361-370
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    • 1992
  • A controller of the hovering VTOL aircraft with four fan is constructed by SRFIMF(State Rate Feedback Implicit Model-Following)theory, in which feedback state are angle acceleration, angle velocity and angle position of the aircraft during hover With yaw control of the system, characteristics of the hovering aircraft can be analyzed by changing states feedback gain and sponse provides robust stable hovering system.

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Development of Hovering AUV Test-bed for Underwater Explorations and Operations

  • Byun, Seung-Woo;Choi, Hyeung-Sik;Kim, Joon-Young
    • International Journal of Ocean System Engineering
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    • v.3 no.4
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    • pp.218-224
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    • 2013
  • This paper describes the design and control of a hovering AUV test-bed and analyzes the dynamic performance of the vehicle using simulation programs. The main purpose of this vehicle is to carry out fundamental tests of its station keeping, attitude control, and desired position tracking. Its configuration is similar to the general appearance of an ROV for underwater operations, and its dimensions are $0.75m{\times}0.5m{\times}0.5m$. It has four 450-W thrusters for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring the water depth and a magnetic compass for measuring its heading angle. The navigation of the vehicle is controlled by an onboard Pentium III-class computer, which runs with the help of the Windows XP operating system. This provides an appropriate environment for developing the various algorithms needed for developing and advancing a hovering AUV.

A fuzzy sliding mode controller design for the hovering system of underwater vehicles (수중운동체의 호버링시스템을 위한 퍼지 슬라이딩 모드 제어기 설계)

  • Kim, Jong-Sik;Kim, Sung-Min
    • Journal of Institute of Control, Robotics and Systems
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    • v.1 no.1
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    • pp.25-32
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    • 1995
  • Nonlinear depth control algorithms for the hovering system of underwater vehicles are presented. In this paper, a nonlinear effect in heave motion for underwater vehicles, a deadzone effect of the flow control valve in the hovering tank and an impact disturbance are considered. In this situation, in order to choose a desirable controller, sliding mode controller and fuzzy sliding mode controller are designed and compared. The computer simulation results show that the fuzzy sliding mode control system is more suitable in order to maintain a desirable depth of an underwater vehicle with a deadzone and impact disturbance.

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Design and Implementation of A Hovering AUV with A Rotatable-Arm Thruster (회전팔 추진기를 가진 시험용 HAUV의 설계 및 구현)

  • Shin, Dong H.;Bae, Seol B.;Joo, Moon G.;Baek, Woon-Kyung
    • IEMEK Journal of Embedded Systems and Applications
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    • v.9 no.3
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    • pp.165-171
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    • 2014
  • In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.