To study the continuous conversion flight of a STUAV, a nonlinear simulation model was developed based on the Bell Model 301 equations. The database of a real flight model was also applied. In helicopter and airplane modes, the STUAV exhibited dynamic derivatives similar to general helicopters and airplanes. However, in conversion mode, the longitudinal dynamic characteristics of the STUAV showed nonlinearity. Furthermore, lateral stability elements such as Lv, Lr, and Np caused an increase in dynamic instability during the conversion flight. As for flight dynamics and control, both the simulation and the flight test confirmed that a high pitch-up motion could cause stall and instability of the vehicle during backward conversion. Therefore, it was concluded that the backward conversion flight necessitates special attention when designing the controller for an STUAV. To overcome the limitations of nonoptimum interim gains caused by the large differences between linear models, T-S fuzzy modeling was proposed with only four linear models. This method provided more robust control during forward and backward nacelle conversions. The performance of the proposed controller was verified via simulations of (a) applying one doublet input to rapid attitude changes and (b) composing autopilots for aggressive maneuvers. The advantages of the T-S fuzzy algorithm serve to decrease any uncertainties arising from the limitations of the linear models. Furthermore, the T-S fuzzy algorithm provides more stable attitude control than a simple gain-scheduler would.


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    Title :

    Dynamic modeling and fuzzy control for a small tiltrotor unmanned aerial vehicle


    Additional title:

    Dynamische Modellierung und Fuzzy-Regelung für kleine, unbemannte Luftfahrzeuge mit Schwenkrotor


    Contributors:


    Publication date :

    2013


    Size :

    20 Seiten, 22 Bilder, 1 Tabelle, 18 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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