摘要 :
In this paper, a model-based flight control system design approach is proposed for a micro aerial vehicle (MAV) using integrated flight testing and hardware-in-the-loop (HIL) simulation. This approach relies on adaptation of syste...
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In this paper, a model-based flight control system design approach is proposed for a micro aerial vehicle (MAV) using integrated flight testing and hardware-in-the-loop (HIL) simulation. This approach relies on adaptation of system identification and control system design methodologies from the manned aircraft domain. The MAV is specifically designed for a surveillance mission in which a moving ground target such as a ship or a boat is tracked fully autonomously from a specified altitude by using a downward facing camera. We utilize a design process in which the longitudinal and lateral mathematical models are identified through open-loop system identification flight testing. These models are later used in a multi-objective controller optimization scheme in which a control system is designed inline with the high performance tracking requirements. We have utilized a hardware-in- the-loop simulation system allowing comprehensive simulation and testing of designed control and guidance algorithms before fully autonomous flight tests as to minimize cost and crash risk. Both the designed control system and also the legacy flight control system of the autopilot are flight tested. The results demonstrate that the proposed methodology and the resulting control system provides higher performance and robust disturbance rejection in face of real-world conditions such as turbulence and winds.
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摘要 :
In this paper, a model-based flight control system design approach is proposed for a micro aerial vehicle (MAV) using integrated flight testing and hardware-in-the-loop (HIL) simulation. This approach relies on adaptation of syste...
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In this paper, a model-based flight control system design approach is proposed for a micro aerial vehicle (MAV) using integrated flight testing and hardware-in-the-loop (HIL) simulation. This approach relies on adaptation of system identification and control system design methodologies from the manned aircraft domain. The MAV is specifically designed for a surveillance mission in which a moving ground target such as a ship or a boat is tracked fully autonomously from a specified altitude by using a downward facing camera. We utilize a design process in which the longitudinal and lateral mathematical models are identified through open-loop system identification flight testing. These models are later used in a multi-objective controller optimization scheme in which a control system is designed inline with the high performance tracking requirements. We have utilized a hardware-in- the-loop simulation system allowing comprehensive simulation and testing of designed control and guidance algorithms before fully autonomous flight tests as to minimize cost and crash risk. Both the designed control system and also the legacy flight control system of the autopilot are flight tested. The results demonstrate that the proposed methodology and the resulting control system provides higher performance and robust disturbance rejection in face of real-world conditions such as turbulence and winds.
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摘要 :
In this paper, we provide a system identification, model stitching and model-based flight control system design methodology for an agile maneuvering quadrotor micro aerial vehicle (MAV) technology demonstrator platform. The propos...
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In this paper, we provide a system identification, model stitching and model-based flight control system design methodology for an agile maneuvering quadrotor micro aerial vehicle (MAV) technology demonstrator platform. The proposed MAV is designed to perform agile maneuvers in hover/low-speed and fast forward flight conditions in which significant changes in system dynamics are observed. As such, these significant changes result in considerable loss of performance and precision using classical hover or forward flight model based controller designs. To capture the changing dynamics, we consider an approach which is adapted from the full-scale manned aircraft and rotorcraft domain. Specifically, linear mathematical models of the MAV in hover and forward flight are obtained by using the frequency-domain system identification method and they are validated in time-domain. These point models are stitched with the trim data and quasi-nonlinear mathematical model is generated for simulation purposes. Identified linear models are used in a multi-objective optimization based flight control system design approach in which several handling quality specifications are used to optimize the controller parameters. Lateral reposition and longitudinal depart/abort mission task elements from ADS-33E-PRF are scaled-down by using kinematic scaling to evaluate the proposed flight control systems. Position hold, trajectory tracking and aggressiveness analysis are performed, Monte-Carlo simulations and actual flight test results are compared. The results show that the proposed methodology provides high precision and predictable maneuvering control capability over an extensive speed envelope in comparison to classical control techniques. Our current work focuses on i) extension of the flight envelope of the mathematical model and ii) improvement of agile maneuvering capability of the MAV.
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摘要 :
In this paper, we provide a system identification, model stitching and model-based flight control system design methodology for an agile maneuvering quadrotor micro aerial vehicle (MAV) technology demonstrator platform. The propos...
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In this paper, we provide a system identification, model stitching and model-based flight control system design methodology for an agile maneuvering quadrotor micro aerial vehicle (MAV) technology demonstrator platform. The proposed MAV is designed to perform agile maneuvers in hover/low-speed and fast forward flight conditions in which significant changes in system dynamics are observed. As such, these significant changes result in considerable loss of performance and precision using classical hover or forward flight model based controller designs. To capture the changing dynamics, we consider an approach which is adapted from the full-scale manned aircraft and rotorcraft domain. Specifically, linear mathematical models of the MAV in hover and forward flight are obtained by using the frequency-domain system identification method and they are validated in time-domain. These point models are stitched with the trim data and quasi-nonlinear mathematical model is generated for simulation purposes. Identified linear models are used in a multi-objective optimization based flight control system design approach in which several handling quality specifications are used to optimize the controller parameters. Lateral reposition and longitudinal depart/abort mission task elements from ADS-33E-PRF are scaled-down by using kinematic scaling to evaluate the proposed flight control systems. Position hold, trajectory tracking and aggressiveness analysis are performed, Monte-Carlo simulations and actual flight test results are compared. The results show that the proposed methodology provides high precision and predictable maneuvering control capability over an extensive speed envelope in comparison to classical control techniques. Our current work focuses on i) extension of the flight envelope of the mathematical model and ii) improvement of agile maneuvering capability of the MAV.
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摘要 :
Modularity, portability, and flexibility have become a trend with increasing momentum gradually, in the software community. ARCHI-Pilot is an autopilot software designed to catch the aforementioned trend. ARCHI-Pilot software, des...
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Modularity, portability, and flexibility have become a trend with increasing momentum gradually, in the software community. ARCHI-Pilot is an autopilot software designed to catch the aforementioned trend. ARCHI-Pilot software, designed in a modular structure to work with open-source FreeRTOS and solve the problem of inter-module communication with its Data Distribution Service. Model is designed in MATLAB/Simulink environment including the basic parts of an autopilot software such as: navigation, control and guidance, then implemented by combining the pieces of code, which are obtained by code generation, with in FreeRTOS and Data Distribution Service. Therefore, the architecture can continue to be developed rapidly in the simulation environment and released easily.
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摘要 :
Modularity, portability, and flexibility have become a trend with increasing momentum gradually, in the software community. ARCHI-Pilot is an autopilot software designed to catch the aforementioned trend. ARCHI-Pilot software, des...
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Modularity, portability, and flexibility have become a trend with increasing momentum gradually, in the software community. ARCHI-Pilot is an autopilot software designed to catch the aforementioned trend. ARCHI-Pilot software, designed in a modular structure to work with open-source FreeRTOS and solve the problem of inter-module communication with its Data Distribution Service. Model is designed in MATLAB/Simulink environment including the basic parts of an autopilot software such as: navigation, control and guidance, then implemented by combining the pieces of code, which are obtained by code generation, with in FreeRTOS and Data Distribution Service. Therefore, the architecture can continue to be developed rapidly in the simulation environment and released easily.
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In this paper, we present the flight tests of a solution for finding and localizing a radio frequency emitting target using multiple autonomous unmanned aerial vehicles. The method relies on Particle Filter and Extended Kalman Fil...
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In this paper, we present the flight tests of a solution for finding and localizing a radio frequency emitting target using multiple autonomous unmanned aerial vehicles. The method relies on Particle Filter and Extended Kalman Filter algorithms based on signal strength tracking. After estimation, vision-based detection is used in order to improve the localization. The proposed solution is first tested on an in-house developed software-in-the-loop system and then, radio frequency signal strength measurement tests and vision-based object detection tests are conducted in flight tests. Outdoor flight tests are performed and the results are presented with designed hardware and software architectures. The proposed solution meets of all operational requirements for the localization and the detection of the target.
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摘要 :
In this paper, we present the flight tests of a solution for finding and localizing a radio frequency emitting target using multiple autonomous unmanned aerial vehicles. The method relies on Particle Filter and Extended Kalman Fil...
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In this paper, we present the flight tests of a solution for finding and localizing a radio frequency emitting target using multiple autonomous unmanned aerial vehicles. The method relies on Particle Filter and Extended Kalman Filter algorithms based on signal strength tracking. After estimation, vision-based detection is used in order to improve the localization. The proposed solution is first tested on an in-house developed software-in-the-loop system and then, radio frequency signal strength measurement tests and vision-based object detection tests are conducted in flight tests. Outdoor flight tests are performed and the results are presented with designed hardware and software architectures. The proposed solution meets of all operational requirements for the localization and the detection of the target.
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Modeling the dynamic behavior of quadrotors with high accuracy is of great importance for controller and estimator design and realistic simulations of the whole system. A problem encountered here is in software-based simulations, ...
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Modeling the dynamic behavior of quadrotors with high accuracy is of great importance for controller and estimator design and realistic simulations of the whole system. A problem encountered here is in software-based simulations, which are generally used, when the accuracy of the system model increases, the simulation speed decreases considerably. In other words, there is a trade-off between simulation speed and system dynamics accuracy. To enhance this trade-off, system dynamics can be implemented based on hardware using FPGAs. Hardware-based simulation capability provides high speed and high accuracy. In this paper, transformation matrices in the 6-DoF mathematical model used to calculate the positions and orientations of quadrotors are targeted for hardware-based implementation. In simulations, it is aimed to design a hardware block that calculates the transformation matrix for the given Euler angles in a shorter time according to the software-based implementation. In this design, Taylor series expansion with the quarter-wave symmetry and Newton-Raphson division algorithm methods are chosen as the trigonometric function approximation. The fixed-point number representation method is chosen for FPGA implementation. After determining the dynamic range of the design, fixed-point word and fraction lengths are determined according to the DSP blocks and quarter-wave symmetry requirements on the FPGAs. Then, the system is designed using a Simulink environment, which consists of a datapath that uses the limited hardware resources on the FPGA and a state machine that controls this datapath. While designing the datapath as less as possible multipliers/adders are used. Finally, the system, whose accuracy is tested in the Simulink environment, is synthesized in Verilog language with automatic code generation method. In this article, a transformation matrix calculator needed in 6-DoF equations is designed using a hardware-based controller/datapath implementation that runs faster than a software-based implementation and consumes less resource on the FPGA.
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In this work, we present an unmanned aerial vehicle (UAV) simulation-based, hardware and software development and verification architecture structured around the Robot Operating System (ROS). One of the key expectations of such a ...
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In this work, we present an unmanned aerial vehicle (UAV) simulation-based, hardware and software development and verification architecture structured around the Robot Operating System (ROS). One of the key expectations of such a system is a graceful increase in architectural and computational complexity as the number of vehicles and vehicle complexity increases. In addition, the system is expected to provide the ability to test and verify algorithms both at the software and hardware level before real flight operations. This requirement also couples with the requested flexibility of updating the models and the algorithms based on the results coming from real operations. As such, the designed architecture allows joint simulation and testing at both hardware and software layers for multiple vehicle and swarm operations. Specifically, the architecture consists of distinct and networked layers where hardware elements such as autopilot systems (e.g., Pixhawk, Ardupilot etc.), ground stations and external motion capture/localization systems (e.g., Vicon, Otus Tracker etc.) are integrated around the ROS simulation shell. In addition, the dynamics, sensor models, motion planning and other features can be driven by highly parallel MATLAB/Simulink models. Visualization and visual sensing is obtained through linking of virtual reality with simulation environments such as Gazebo and Airsim. This highly reconfigurable architecture allows research teams to work on multidisciplinary areas such as modeling, control, computer vision, artificial intelligence and machine learning within the same simulation and test environment.
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