Intenational Coneence on Manuactuing Science and Engineeing (ICMSE 2015) A small UAV deviation contol oll eseach Tianxiang Hu College o Mechatonic Engineeing, Nanjing Institute o Industy Technology, Nanjing 210023, China Email: hutuson@163.com eywods: UAV; oll; Flying contol; ectiy deviation Abstact: This pape accoding to the small UAV stuctue chaacteistics, the taxiing contol stuctue and contol law design ae studied and poposed ont wheel and udde deviation contol scheme and contol stuctue, analysis, including the ont landing gea, pavement condition, bake system, wind and othe actos o coecting deviation contol eect inluence, based on take-o and landing and taxiing deviation contol take-o chaacteistics, design the taxiing test scheme. Intoduction Wheeled landing appoach is lage and medium-sized UAV using an impotant landing appoach, the cost is expensive, landing gea system is moe complex, and is equipped with bake system, so gound o gound taxiing contol the main wheel dieential bake and contol method o udde combined coection. Howeve, o small wheeled landing mode o the UAV, due to its light weight, low cost, easy to use and maintenance, the landing gea design is geneally elatively simple. Due to the ont wheel and the dieential bake can implement the deviation contol, ont wheel steeing contol with quick esponse, no additional esistance, oll a shot distance, dieential bake on the landing gea bake system equiements highe, thus geatly inceased the landing gea o the weight and cost. Using the ont wheel steeing contol o the UAV, can not install the bake system o modiied simple bake system o eduction, because the stuctue is simple, so the small wheeled landing UAV usually use this way o deviation coection. In the pesent study on man- machine taxiing chaacteistics, mostly taxiing mathematical model based on the accuate o taxiing model o UAV Based on. Howeve, because o the UAV in taxiing pocess o inluencing actos, such as ont landing gea ovehead back, pavement condition, wind o othe. Theeoe, it is vey diicult to establish accuate mathematical model. Especially small unmanned aeial vehicle (UAV), to cay out wind tunnel expeiment is not only long lie cycle, and costly, though the taxiing test paamete adjustment is small UAV contol law design is an impotant method. Gound contol scheme and stuctue UAV lateal motion inomation into the ont wheel steeing deviation contol law and udde deviation contol law, ont wheel steeing contol and udde contol. At the same time to UAV, by the two contol channel contol law opeation poduced ont wheel steeing deviation contol instuction and udde ectiying deviation contol instuction, in low-speed taxiing section, ont wheel coection eiciency is high, the udde authoity ate lowe, ont wheel coection plays a 2015. The authos - Published by Atlantis Pess 1
majo ole; in the high-speed ange, the udde authoity highe ate, because o a suge in the UAV lit, the pessue o ont wheels on the oad is vey small, so a ont wheel steeing coection eiciency is vey low, the udde play main ole. In ode to ensue seamless handove o UAV in taxiing o ont wheel deviation contol and udde deviation contol udde deviation contol law though the distibuto and steeing contol law togethe to poduce steeing contol commands, ente into the ont wheel steeing mechanism o delection toque contol lateal movement o the UAV. The UAV latealization in a sae ange. Taxiing in ectiying pocess, i appea out o the unway and othe emegency situations, the bake contol law based on the instuction o lateal distance and sliding speed ae bake, baking instuction entes into the bake mechanism to contol the UAV taxiing speed, ensue that the UAV sliding saety. Hee, the bake does not paticipate in the lateal contol. The lateal oset based eedback signal, because the ont wheel steeing contol esponse is moe sensitive, the lateal velocity and yaw ate contol to impove the dynamic peomance, these signals into the ont wheel steeing coection contol law, the ont wheel steeing coection contol law geneates ont wheel steeing contol command; in addition, at the same time as the main lateal oset eedback signal and the yaw angle, yaw ate in udde deviation contol law diection, because the elatively slow esponse o udde contol, whee the yaw angle and yaw ate to impove the dynamic peomance o contol, the udde delection coecting contol law geneates instuctions to ente the udde udde loop make udde yaw moment geneated deviation. In ode to ealize the smooth tansition between ont wheel steeing contol and diectional contol, the design o the distibuto is that the contol paametes o the contol paametes o the contol paametes o the steeing contol system ae geneated accoding to a cetain tansmission atio. Taxiing in ectiying pocess and oll within the loop at the same time, to pevent the aicat in the ectiication movement due to tun centiugal oce, wind o othe actos lead to the oll angle is too lage, so that the isk o ollove occued in the pocess o tuning. Taxiing stage, UAV lateal contol law o speciic expession: P P c c a is o aileon udde oset value, P is the olling angula ate, o oll angle, c is the oll angle commands, p a and a ae aileon dieential and the popotional contol gain. is ont wheel steeing udde delection angle, is the yaw ate, is elative to the unway cente line o the lateal oset, is the latealization ate available omula obtained: Vgsin c V g is the gound speed, c is UAV heading command, C is the cuent diection o UAV 2
Gound speed. is the ont wheel, the yaw angle ate contol gain, is the ont wheel side velocity contol gain, and is the ont wheel side oset contol gain. is udde angle, is the udde yaw angle ate contol gain, and is the udde yaw angle contol gain, is the udde o a lateal contol gain. a and ae obtained ate the limit, The design details ae as ollows: ac c c to the output cicuit is the distibution coeicient om the udde to the ont wheel. Gound to adjust the paametes o expeimental design Lateal deviation contol equiements Though the taxiing test to debug contol paametes, we need to make clea ectiying contol equiements. In the contol o UAV Gound un the equiements as ollows: (1) the yaw ate can not be too lage, that is in the pocess o unning the body does not appea obvious swing; (2) UAV elative lateal oset to the unway cente line to keep in allowable ange, pevent taxiing due to unway oad, cosswind distubance and othe actos make no man-machine unway. (3) duing taxiing without man-machine nose heading and the unway centeline heading angle should be in easonable ange, and thee should not be a lage angle coection o even tuning a dangeous situation. inluence actos o deviation coection UAV, gound taxiing in, aect the coection contol eect o many o the poposed contol scheme, in the test pocess must ocus on ou aspects: 1ont ai back 2pavement condition 3bake eect 4the gust eect The diect inluence o the size o the ont wheel back to the contol accuacy, the smalle the ont wheel back to the smalle the bette contol eect. The empty back and the back o the ont wheel steeing gea and the back o the tansmission mechanism, the gap between the tansmission od and the ixed gap between the wheel and the wheel, the two kinds o ai etun should be 3
consideed in the landing gea design, the geneal should be less than 0.5. Pavement condition is mainly consideed the inluence o pavement slope and pavement iegulaities. oad gadient and the main landing gea ack two machine tie pessue inconsistent on the contol eect o the same, mainly aecting the skating when coneing static eo and dieent unway pavement dieent slope, even with a unway in UAV back and oth taxiing coection eect is also dieent. Theeoe, no man in taxiing must pass ee glide tests without contol, continuous commissioning ont o zeo, to ensue that ont zeo within the appopiate ange and to eliminate side patial static eo. The oad bump mainly aects the saety unning, may lead to a signiicantly uneven pavement beoe landing gea damage o UAV ollove. Bake system, though not o let and ight wheel dieential coection, but because o the let and ight bake mechanism o asymmety, when in taxiing o emegency deceleation, esulting in UAV nose to bake toque on the lage side thash, unde the situation o a st may make UAV ollove o oveshot the unway. Although the taxiing pocess time is shot, duing the peiod o may by gust eect in man-machine sloshing, taxi tajectoies deviate om the unway cente line. Lateal deviation contol should be timely and smoothly will not contol back to the saety ange, and would not have a big oveshoot. Test design As a esult o the UAV in take-o and landing phases into the initial state o the gound taxiing, contol paametes test tuning into the ocus is dieent. The initial conditions o the test o the takeo section ae as ollows: (1) the UAV paked on the unway cente line, the lateal oset is almost zeo; (2) the head o the UAV is aligned with the cente line o the unway, and the heading deviation o the cente line o the nose and the unway is almost zeo. Fo take-o peiod o adjusting paamete test, the elevato shall poduce nose down moment, pevent because skating speed is too ast, no man-machine accidentally took o om the gound. Send "oll" ate the instuction, the UAV taxiing began to acceleate om est, paking at set speed ate. Gadually inceasing the speed o setting the sliding speed until the gound velocity can be completed. UAV gound beoe subjected to Cosswind Eects, thee may be a lage lateal patial and the heading eo, so in the design o landing gound taxiing test should be in the UAV to pick up speed skating to poduce cetain side patial validation o UAV in the apid sliding state o coneing ability. Paamete design o coection contol law Lateal deviation contol law design is to detemine the paametes contol the gain value in the law. In the low-speed taxiing segment, ont wheel coection plays a majo ole, need to detemine and. The thee paametes ae detemined by the pocess: 4
(1)A eeence value o the and (2) detemination: UAV in the take-o pocess, may head swing, adjust the value o, head swing within a easonable ange; (3) detemination: UAV in low speed, smooth take-o, but with inceasing taxiing speed, body in on both sides o the unway centeline sloshing, namely "the touch" phenomenon, adjust the value o, the UAV a staight taxiing along the unway cente line; is in the oll beoe, will detemine the UAV unway centeline distance, obseved duing coneing oll contol. I the paamete is too lage, although the esponse ate is ast, but it is easy to geneate a lage oveshoot; i the paametes o is too small, the deviation o the esponse pocess is slow, it may aect the take-o saety. Theeoe, adjust the value, so that the UAV in the case o the initial side o couse deviation can be quickly and without oveshoot into the unway cente line. In the medium and high speed unning, the udde began to need to detemine the value o and ectiication. The design o high speed speed o and is simila, and will not go. and design section and the and ont wheel steeing actuato to ont wheel dive mechanism, in the same state o the ont wheel steeing mechanism o conditions, is the middle speed section taxiing to adjust the paametes o the key. I the speed contol paametes have been detemined, the speed skating thee head swing, "the touch" contol eect is not too ideal can enlage o educe the speed o the coesponding contol paametes value, while at the same time educe o enlage the eect is ideal and also coected taxiing speed. value to achieve both to ensue low speed coection Test Analysis The design method o contol law is applied to the design o the contol law o a cetain type o UAV. The inal contol law paametes detemine the taxiing test as shown in table 1. Table 1 Paametes o lateal deviation contol Paamet e c Numeic al 0.32 1.6 1 0.375 5 In the ist test, no man-machine taxiing beoe initial lateality o 0.2647m, initial heading 5
eo o 211.5 degees, that is, without man-machine aligned with the unway centeline. UAV takeo in the pocess, the maximum lateal oset is -0.5m, maximum yaw angle ate o -2.893 degees pe second, the maximum deviation in heading o degee -1.215, maximum olling angle degee -0.8951, UAV in GS to 28.96m/s om take-o, taxiing o low speed and high speed smooth tansition, meet the take-o equiements. In the second expeiment, landing taxiing data can be seen, the UAV gound beoe initial velocity o 21.14m/s and initial lateal patial to -0.97m, initial heading eo is 0.23 DEG, taxiing o maximum lateal oset is -1.677m, maximum yaw angle ate o 3.813 deg / s, the maximum deviation in heading o 179 degees, the maximum olling angle degee -0.941, UAV gound quickly and smoothly without oveshoot o taxied to the unway cente line, stop om the unway centeline o the lateal oset -0.2648m, and taxiing o no obvious head swing, gound taxiing o saety, not use emegency bake. Deviation contol law paametes, the ealization o the ont wheel steeing contol and udde contol seamless hando, is designed though the taxiing test paamete adjustment. Fo UAV actual landing and taxiing test analysis, veiy gound taxiing contol scheme and the stuctue is easonable and easible, and the contol law design is simple, eective and good contol eect and meet the small UAV wheeled landing and taxiing equiements. Conclusions Fo the wheeled landing appoach o UAV, this pape puts owad the ont wheel and udde combined coection contol scheme and contol stuctue, and is especially suitable o small UAV Gound taxiing; combining ectiication contol equiements, the analysis o the impact o contol scheme ectiication eect actos, as a esult o these is to cay out the taxiing test and contol law design must conside. Also design the takeo and landing and taxiing test, and discusses the design method o contol paametes, avoiding the conventional contol design equies accuate modeling o tedious and limitations. The actual light test shows that the method is easible, and can eectively impove the design eiciency o the contol law o the deviation coection. eeence [1] CAI G W, CHEN B M, PENG M, et al. Modeling and contol system design o a UAV helicopte[c] //Poceedings o the 14th Mediteanean Coneence on Contol and Automation. Ancona, Italy: IEEE, 2006, 6: 600-606. [2] JIAO S, DU J, WANG X M, et al. H1 state eedback contol o UAV Maneuve tajectoy tacking[c] //Poceedings o 2010 Intenational Coneence on Intelligent Conto l and Inomation Pocessing. Dalian, China: IEEE, 2010, 8: 253-257. [3] AHMED B, POTA H, MATT G. Flight contol o a otay wing UAV using backstepping[j]. Intenational Jounal o obust and Nonlinea Contol, 2010, 20(6): 639 658. [4] LEE C T, TSAI C C. Adaptive backstepping integal contol o a small-scale helicopte o aidop missions[j]. Asian Jounal o Contol,2010, 12(4): 531-541. [5] SANCHEZ E N, BECEA H M, VELEZ C M. Combining uzzy and PID contol o an unmanned helicopte[c] //2005 Annual Meeting o the Noth Ameican Fuzzy Inomation 6
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