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3. APPLICATION TO AUTOPILOT DESIGN
OF TILT-ROTOR UAV
3.1 Tilt-Rotor UAV
The tilt-rotor UAV has been developed by Korea
Aerospace Research Institute (KARI) for a robust and
intelligent tilt rotor UAV exhibiting high-speed cruise
and vertical take-off and landing capabilities since
2002.[1] The tilt-rotor UAV shown in figure 2 will
perform various civil missions including disaster
detection and management, weather forecasting, and
environmental monitoring, etc.
Fig. 2 Tilt-Rotor Unmanned Aerial Vehicle (Smart UAV)
For reference, the Smart UAV controls operate as
shown in figure 3.
(a) helicopter mode (b) airplane mode
Fig. 3 Control Method for Smart UAV
In helicopter mode, pitch control is archived through
longitudinal cyclic, roll control through both differential
collective pitch and lateral cyclic, yaw through
differential longitudinal cyclic and heave through
collective pitch with rotor governing. In conversion
mode, the rotor controls are gradually blended out. In
airplane mode, tilting control is locked out.
3.2 Autopilot Design of Smart UAV
In the autopilot design problem, it is difficult to
systematically determine the controller gain satisfying
the required performance and guaranteeing sufficient
stability. This problem may be easily treated by
applying the parameter optimization technique,
especially where the control system architecture is
predetermined and the controller is a linear controller.
In this approach, all particles, which are essentially
controller gain candidates, fly to minimize the cost
function defined by the sum of square errors between
the desired response and the actual response of a plant.
At this moment, stability requirements are dealt with
and constraints are included in the cost function as a
penalty function.
The proposed approach has some advantages in
directly handling nonlinear dynamics and easily
changing the structure of autopilot systems. In this
section, we design an attitude-hold autopilot for
tilt-rotor UAV applying the proposed method.
Figure 4 and figure 5 are the attitude-hold autopilot
configuration of the pitch and the roll axis respectively
for the Smart UAV.
Fig. 4 Attitude autopilot structure of pitch axis
Fig. 5 Attitude autopilot structure of roll axis
In this problem, the total number of controller gains
to be determined in pitch axis is 4; K
q
, K
, K
p
, and K
I
.
All controller gains of inner loop and outer loop are
obtained as a parameter set. The desired output of
attitude-hold autopilot is in Eq. (4) and the cost function
and constraints are shown in Eq. (5).
(4)
(5)
Longitudinal Cyclic
Collective Pitch with
Rotor Governing
Differential Collective Pitch
and Lateral Cyclic
Differential
Longitudinal Cyclic
Elevator
Collective Pitch with
Rotor Governing
Aileron with Differential
Collective Pitch for ARI
Differential Collective
Pitch without Rudder
Pitch
Thrust
Roll
Yaw
Pitch
Thrust
Roll
Yaw
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The control performance of attitude-hold and linear
velocity hold(DP-02) autopilots in pitch and roll axis are
shown in figure 6 and figure 7 respectively. The DP-02
is the inertial velocity mode in the helicopter mode in
which the longitudinal and lateral control stick inputs
command control the forward and lateral velocity of the
aircraft. And the others are the attitude-hold autopilot
modes in helicopter mode.
The blue and the cyan lines represent a design
requirements boundary of natural frequency and
damping ratio. The red line represents the time response
of pitch angle. From the results, autopilot with PI
controller and with controller gains determined by the
proposed method, shows satisfactory performance. Also,
autopilot with a different type controller can be easily
designed by the proposed approach.
Fig. 6 The control performance of attitude and velocity
autopilot of pitch axis in helicopter mode
Fig. 7 The control performance of attitude and velocity
autopilot of roll axis in helicopter mode
Figure 8 shows a stability margin of the all flight mode
in pitch and roll axis. Note that the design requirements
of the gain margin and phase margin are over 7dB and
over 45deg. From the results, the stability margin meets
the design requirement in all flight mode using the
particle swarm optimization method.
Fig. 8 The stability margin of the Smart UAV
4. CONCLUSIONS
In this paper, we proposed a method for tilt-rotor
UAV autopilot design by parameter optimization
technique. Moreover, autopilots for tilt-rotor UAV were
designed by applying the proposed method. From the
analysis of design results, we conclude that the
proposed method is a more efficient and flexible
technique in autopilot design problems. From the
autopilot design of tilt-rotor, the following observation
and conclusions can be drawn:
The autopilot of Smart UAV has been designed
successfully using the particle swarm optimization
(PSO) method.
The proposed approach has a advantages in directly
handling nonlinear dynamics and easily changing the
structure of autopilot systems.
The stability margin of the Smart UAV meets the
design requirement in all flight mode using the particle
swarm optimization method.
ACKNOWLEDGEMENTS
This paper was performed for Smart UAV Development
Program, one of the 21
st
Century Frontier R&D
Programs funded by the Ministry of Commerce,
Industry and Energy of Korea.
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DP-01 : Ground Mode
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REFERENCES
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nd
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