Ducard Fault-tolerant Flight Control and Guidance Systems

Practical Methods for Small Unmanned Aerial Vehicles
1. Auflage 2009
ISBN: 978-1-84882-561-1
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 268 Seiten

Reihe: Advances in Industrial Control

This book offers a complete overview of fault-tolerant flight control techniques. Discussion covers the necessary equations for the modeling of small UAVs, a complete system based on extended Kalman filters, and a nonlinear flight control and guidance system.

Between 2002 and 2004, Guillaum Ducard worked with the team designing the Pac-Car 2, designing hardware and control software for embedded fuel cell systems. The vehicle holds the world record for fuel economy. Since 2004, Doctor Ducard has been interested in hardware and software for unmanned aerial vehicles including fixed-wing aeroplanes, high-altitude atmospheric air ships and quadricopters. He received his Dr.Sc. degree from ETH in 2007. His current research involves the design of navigation algorithms, flight control and guidance systems for quadricopters. Guillaume Ducard is a member of the IEEE and of the AIAA.

Autoren/Hrsg.

Ducard, Guillaume J. J.

Inhaltsverzeichnis

1;Series Editors’ Foreword;9
2;Preface;11
3;Contents;12
4;Abbreviations;20
5;Introduction;21
5.1;1.1 Motivations for Fault-tolerant Control Systems for Unmanned Aerial Vehicles;21
5.2;1.2 Book Outline;22
6;Review;23
6.1;2.1 Definition of Fault-tolerant Systems;23
6.2;2.2 Challenges of Designing Reconfigurable Control Systems;27
6.3;2.3 Different Approaches for FDI Systems;28
6.4;2.4 Different Approaches for Flight Control Systems;31
6.5;2.5 Techniques to Design Fault-tolerant Flight Control Systems;31
6.6;2.6 Reconfigurable Guidance Systems;37
6.7;2.7 Real Flight Tests;37
6.8;References;39
7;Nonlinear Aircraft Model;47
7.1;3.1 Definitions of the Frames;47
7.2;3.2 Wind Disturbance;52
7.3;3.3 Model of the Low Altitude Atmosphere;53
7.4;3.4 Equations of Rigid-body Motion;53
7.5;3.5 Engine;57
7.6;3.6 Model of the Aerodynamic Forces;58
7.7;3.7 Model of the Aerodynamic Torques;59
7.8;3.8 Summary of the Nonlinear Aircraft Model;61
7.9;References;61
8;Nonlinear Fault Detection and Isolation System;62
8.1;4.1 Introduction;62
8.2;4.2 FDI Using MMAE Schemes;63
8.3;4.3 A New FDI Scheme Based on the EMMAE Method;65
8.4;4.4 Aircraft Actuator Configuration and Nonlinear Dynamics;68
8.5;4.5 Design of the EKFs;70
8.6;4.6 Actuator Fault Isolation;78
8.7;4.7 Simulation Results of the EMMAE-FDI with no Supervision System;83
8.8;4.8 Improvements to the EMMAE-FDI System;87
8.9;4.9 A Realistic Flight Scenario;91
8.10;4.10 An Additional Filtering Stage for the EMMAE- FDI System;99
8.11;4.11 Detection and Isolation of Simultaneous Failures;100
8.12;4.12 Use of the EMMAE-FDI for a Reconfigurable Flight Control System;103
8.13;4.13 Computational Complexity of the EMMAE-FDI;104
8.14;4.14 Conclusions;105
8.15;References;105
9;Control Allocation;108
9.1;5.1 Introduction to Control Allocation;108
9.2;5.2 Reconfigurable Flight Control System;109
9.3;5.3 Behavior Mode of Ailerons and Elevators;114
9.4;5.4 Multiple Failures;118
9.5;5.5 Extensions of the Method;118
9.6;5.6 Computational Load of the Method;119
9.7;5.7 Simulation Results;119
9.8;5.8 Conclusions;123
9.9;References;124
10;Nonlinear Control Design;126
10.1;6.1 Concept of Dynamic Inversion;126
10.2;6.2 Ideal or Perfect Dynamic Inversion;128
10.3;6.3 Architecture of the Controller of Desired Dynamics;130
10.4;References;138
11;Autopilot for the Longitudinal Motion;140
11.1;7.1 Equations for Longitudinal Mode Analysis;140
11.2;7.2 Dynamic Modes of the Longitudinal Plant;143
11.3;7.3 Validation of the Linear Longitudinal Model;144
11.4;7.4 Stability Analysis of the Uncertain Dynamic Inversion;147
11.5;7.5 General Control Architecture for the Longitudinal Motion;162
11.6;7.6 Pitch Rate Control;164
11.7;7.7 Angle-of-attack Control Loop;171
11.8;7.8 Rate-of-climb Controller;177
11.9;7.9 Altitude Controller;180
11.10;7.10 Airspeed Controller;186
11.11;References;191
12;Autopilot for the Lateral Motion;194
12.1;8.1 Equations for Lateral Motion Analysis;194
12.2;8.2 Dynamic Modes of the Lateral Plant;197
12.3;8.3 Validation of the Linear Lateral Model;198
12.4;8.4 Stability Analysis of the Uncertain Dynamic Inversion;202
12.5;8.5 Roll and Yaw Rate Controllers;210
12.6;8.6 Coordinated-turn Controllers;216
12.7;References;219
13;Reconfigurable Guidance System;220
13.1;9.1 Introduction;220
13.2;9.2 Lateral Guidance System;222
13.3;9.3 Regular Waypoint Tracking;225
13.4;9.4 Altitude Guidance Law;229
13.5;9.5 NFZ and Obstacles;230
13.6;9.6 Detection of the NFZ;233
13.7;9.7 NFZ Avoidance Algorithm;235
13.8;9.8 Simulation;242
13.9;9.9 Conclusions;247
13.10;References;247
14;Evaluation of the Reduction in the Performance of a UAV;248
14.1;10.1 Introduction;248
14.2;10.2 FDI System;249
14.3;10.3 Degraded Turn Performance Evaluation;249
14.4;10.4 Interface with the Guidance System;254
14.5;10.5 Stability Discussion;255
14.6;10.6 Simulation Results;255
14.7;10.7 Performance Degradation Around the Pitch and Yaw Axes;257
14.8;10.8 Conclusion;258
14.9;References;259
15;Conclusions and Outlook;260
15.1;11.1 Future Work;260
15.2;11.2 The Future of Fault-tolerant Flight Control Systems for UAVs;261
15.3;11.3 General Conclusion;261
16;VT , a, and ß Differential Equations;264
17;Discretization of Linear State Space Models;266
17.1;B.1 Continuous Model;266
17.2;B.2 Discrete Model;267
18;Nonlinear Transformations Used in the Longitudinal Controllers;270
18.1;C.1 Nonlinear Transformation T1 Between Second Time Derivative of Altitude ¨h and the Aircraft Normal Acceleration an;270
18.2;C.2 Nonlinear Transformation T2 Between the Angle of Attack a and the Aircraft Normal Acceleration an;271
18.3;C.3 Nonlinear Transformation T3 Between a. and the Pitch Rate q;272
19;Nonlinear Transformation Used in the Lateral- directional Controller;274
19.1;D.1 Dynamics of the Sideslip Angle;274
19.2;D.2 Roll Angle Command Signal and Equation Governing a Coordinated Turn;275
19.3;D.3 Law of Cosines;276
20;Linearization of the Aircraft Model at 30m/ s;277
20.1;E.1 Longitudinal Linear Model;277
20.2;E.2 Lateral Linear Model;278
21;Nomenclature;279
22;Index;283