UnmannedRotorcraftSystems.pdf

1、Advances in Industrial ControlFor other titles published in this series,go titles published in this series:Digital Controller Implementationand FragilityRobert S.H.Istepanian and James F.Whidborne(Eds.)Optimisation of Industrial Processesat Supervisory LevelDoris Sez,Aldo Cipriano and Andrzej W.Ordy

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8、qi Zhuang and Dali Wang(Eds.)Practical PID ControlAntonio Visioli(continued after Index)Guowei Cai?Ben M.Chen?Tong Heng LeeUnmannedRotorcraft SystemsGuowei CaiTemasek LaboratoriesNational University of SingaporeT-Lab Building,5A,Engineering Drive 1Singapore 117411Singaporecai_guoweinus.edu.sgBen M.C

9、henTemasek LaboratoriesNational University of SingaporeT-Lab Building,5A,Engineering Drive 1Singapore 117411Singaporebmchennus.edu.sgTong Heng LeeTemasek LaboratoriesNational University of SingaporeT-Lab Building,5A,Engineering Drive 1Singapore 117411Singaporeeleleethnus.edu.sgISSN 1430-9491ISBN 978

10、-0-85729-634-4e-ISBN 978-0-85729-635-1DOI 10.1007/978-0-85729-635-1Springer London Dordrecht Heidelberg New YorkBritish Library Cataloguing in Publication DataA catalogue record for this book is available from the British LibraryLibrary of Congress Control Number:2011930654 Springer-Verlag London Li

11、mited 2011Apart from any fair dealing for the purposes of research or private study,or criticism or review,as per-mitted under the Copyright,Designs and Patents Act 1988,this publication may only be reproduced,stored or transmitted,in any form or by any means,with the prior permission in writing of

12、the publish-ers,or in the case of reprographic reproduction in accordance with the terms of licenses issued by theCopyright Licensing Agency.Enquiries concerning reproduction outside those terms should be sent tothe publishers.The use of registered names,trademarks,etc.,in this publication does not

13、imply,even in the absence of aspecific statement,that such names are exempt from the relevant laws and regulations and therefore freefor general use.The publisher makes no representation,express or implied,with regard to the accuracy of the informationcontained in this book and cannot accept any leg

14、al responsibility or liability for any errors or omissionsthat may be made.Cover design:VTeX UAB,LithuaniaPrinted on acid-free paperSpringer is part of Springer Science+Business Media()ToOur UAV Research TeamandOur FamiliesPrefaceIn recent years,research and development of unmanned systems have gain

15、ed muchattention in the academic and military communities worldwide.Topics like un-manned aircraft,underwater explorers,satellites,and intelligent robotics are widelyinvestigated as they have potential applications in the military and civilian domains.They are developed to be capable of working auto

16、nomously without the interferenceof a human pilot.The challenge is that they need to deal with various situations thatarise in very complicatedand uncertain environments,such as unexpectedobstacles,enemies attacking and device failures.Besides,they are required to communicatewith technical personnel

17、 in the ground station.Consideration of a wide range offactors needs to be taken.Control systems for the unmanned vehicles are requiredto integrate not only basic input-output control laws but also high-level function-alities for decision making and task scheduling.Software systems for unmannedvehic

18、les are required to perform tasks from hardware driving to the management ofdevice operations,and from traditional input-output control law implementation totask scheduling and event management.In this monograph,the authors aim to explore the research and development offully functional miniature unm

19、anned-aerial-vehicle(UAV)rotorcraft,which consistof a small-scale basic rotorcraft with all necessary accessories onboard and a groundstation.The unmanned system is an integration of advanced technologies developedin the communications,computing,and control areas.It is an excellent test bed fortesti

20、ng and implementing modern control techniques.It is,however,a highly chal-lenging process.The flight dynamics of small-scale rotorcraft such as a hobby he-licopter is similar to its full-scale counterpart but owns some unique characteristicssuch as the utilization of a stabilizer bar,higher rotor st

21、iffness,and yaw rate feed-back control.Besides these,the strict limitation on payload also increases the diffi-cultyinupgradingasmall-scalerotorcrafttoaUAVwithfullcapacities.Basedonitsvarious characteristics and limitations,a lightweight but effective onboard avionicsystem with corresponding onboard

22、/ground software should be carefully designedto realize the system identification and automatic flight requirements.These issueswill be addressed in detail in this monograph.Research on utilizing the vision-basedsystem for accomplishing ground target tracking and following,cooperative control,and fl

23、ight formation of multiple unmanned rotorcraft is also highlighted.viiviiiPrefaceThe intended audience of this monograph includes practicing engineers in rotor-craft industry and researchers in the areas related to the development of unmannedaerial systems.An appropriate background for this book wou

24、ld be some senior leveland/or first-year graduate level courses in aerodynamic engineering,control engi-neering,electrical engineering,and/or mechanical engineering.The authors of this monograph are thankful to the whole UAV Research Team atthe National University of Singapore.We would like to thank

25、 Dr.Feng Lin,Dr.BiaoWang,Dr.Kemao Peng,Dr.Miaobo Dong,Dr.Ben Yun,Xiangxu Dong,XiaolianZheng,Fei Wang,Shiyu Zhao,Swee-King Phang,Kevin Ang,and Jinqiang Cui fortheir help and contributions.We are particularly thankful to Dr.Feng Lin for hiscontribution to the results presented in Chap.11 and to Dr.Bia

26、o Wang for his helpto the material given in Chap.10 of this monograph.We would also like to extendour thanks and appreciations to Ms.Charlotte Cross,Editorial Assistant of Springer,for her kindly help and assistance,and to the Springers copy editor and series editorfor their careful reading of the e

27、ntire manuscript and their invaluable comments.We have had the benefit of the collaboration of several coworkers and discus-sions with international visitors,from whom we have learned a great deal.Amongthem are Dr.Kai-Yew Lum and Dr.Hai Lin of National University of Singapore,Dr.Chang Chen and Dr.Ro

28、dney Teo of the DSO National Laboratories of Sin-gapore,Professor Da-Zhong Zheng of Tsinghua University,Professor Clarence deSilva of the University of British Columbia,Professor Frank Lewis of the Univer-sity of Texas at Arlington,Professor Lihua Xie of Nanyang Technological Univer-sity,Professor D

29、elin Luo of Xiamen University,Professor Hai-Bin Duan of BeijingUniversity of Aeronautics and Astronautics,Professor Wei Kang of the Naval Post-graduate School,USA,and Dr.Siva Banda of the Air Force Research Laboratory,USA.We are indebted to them for their valuable contributions and/or comments.The s

30、econd author would like to thank particularly the Defence Science andTechnology Agency(DSTA),Singapore,for granting him the Temasek Young In-vestigator Award in 2003 to initiate his research on unmanned systems.We wouldalso like to acknowledge Temasek Laboratories and the Temasek Defence SystemsInst

31、itute,the National University of Singapore,for their financial support and re-search funding over the years.We are thankful to the Department of Electrical andComputer Engineering and Temasek Laboratories,the NationalUniversity of Singa-pore,for providing us generous laboratory spaces for housing ou

32、r unmanned aircraftand related research activities.Last,but certainly not the least,we owe a debt of gratitude to our families fortheir sacrifice,understanding,and encouragement during the course of preparingthis monograph.It is very natural that we dedicate this work to our families and toour whole

33、 UAV Research Team.Guowei CaiBen M.ChenTong H.LeeSingapore,SingaporeContents1Introduction.11.1Introduction.11.2Brief History of Rotorcraft.21.3Essential Hardware Components.61.3.1RC Rotorcraft.61.3.2Avionic System.81.3.3Manual Backup.101.3.4Ground Control Station.111.4Software Design and Integration

34、.111.4.1Avionic Real-Time Software System.111.4.2Ground Control Station Software Structure.131.5Flight Dynamics Modeling.141.5.1First-Principles Approach.141.5.2System and Parameter Identification.151.6Flight Control Systems.151.7Application Examples.161.8Preview of Each Chapter.192Coordinate System

35、s and Transformations.232.1Introduction.232.2Coordinate Systems.232.2.1Geodetic Coordinate System.242.2.2Earth-Centered Earth-Fixed Coordinate System.252.2.3Local North-East-Down Coordinate System.262.2.4Vehicle-Carried North-East-Down Coordinate System.272.2.5Body Coordinate System.272.3Coordinate

36、Transformations.282.3.1Fundamental Knowledge.282.3.2Coordinate Transformations.313Platform Design and Construction.353.1Introduction.35ixxContents3.2Virtual Design Environment Selection.353.3Hardware Components Selection.363.3.1RC Helicopter.373.3.2Flight Control Computer.393.3.3Navigation Sensors.4

37、03.3.4Peripheral Sensors.423.3.5Fail-Safe Servo Controller.423.3.6Wireless Modem.433.3.7Batteries.443.3.8Vision Computer.443.3.9Vision Sensor.453.3.10 Frame Grabber.453.3.11 Servo Mechanism.463.3.12 Video Transmitter and Receiver.463.3.13 Manual Control.473.3.14 Ground Control Station.473.4Avionic S

38、ystem Design and Integration.473.4.1Layout Design.483.4.2Anti-vibration Design.483.4.3Power Supply Design.523.4.4Shielding Design.533.5Performance Evaluation.534Software Design and Integration.594.1Introduction.594.2Onboard Software System.604.2.1Framework Design.604.2.2Task Management.624.2.3Implem

39、entation of Automatic Control.664.2.4Emergency Handling.694.2.5Vision Processing Software Module.714.3Ground Control Station Software.724.3.1Framework of Ground Station Software Module.734.3.23D View Development.764.4Software Evaluation.795Measurement Signal Enhancement.835.1Introduction.835.2Extend

40、ed Kalman Filtering.845.3Dynamics Models of the GPS-Aided AHRS.865.3.1AHRS Dynamics Model.865.3.2INS Dynamics Model.885.4Design of Extended Kalman Filters.895.4.1EKF for AHRS with Accelerometer Measurement.905.4.2EKF for AHRS with Magnetometer Measurement.915.4.3EKF for INS.925.5Performance Evaluati

41、on.93Contentsxi6Flight Dynamics Modeling.976.1Introduction.976.2Model Structure.986.2.1Kinematics.986.2.2Rigid-Body Dynamics.1016.2.3Main Rotor Flapping Dynamics.1076.2.4Yaw Rate Feedback Controller.1106.3Parameter Determination.1116.3.1Direct Measurement.1116.3.2Ground Tests.1126.3.3Estimation Base

42、d on Wind-Tunnel Data.1186.3.4Flight Test.1196.3.5Fine Tuning.1266.4Model Validation.1276.5Flight Envelope Determination.1287Inner-Loop Flight Control.1377.1Introduction.1377.2HControl Technique.1387.3Inner-Loop Control System Design.1447.3.1Model Linearization.1457.3.2Problem Formulation.1467.3.3Se

43、lection of Design Specifications.1487.3.4HControl Law.1497.3.5Performance Evaluation.1518Outer-Loop Flight Control.1618.1Introduction.1618.2Robust and Perfect Tracking Control.1628.3Outer-Loop Control System Design.1668.4Performance Evaluation.1729Flight Simulation and Experiment.1799.1Introduction.

44、1799.2Flight Scheduling.1809.2.1Depart/Abort(Forward Flight).1809.2.2Hover.1819.2.3Depart/Abort(Backward Flight).1819.2.4Hovering Turn.1829.2.5Vertical Maneuver.1829.2.6Lateral Reposition.1839.2.7Turn-to-Target.1849.2.8Slalom.1849.2.9Pirouette.1859.2.10 MTE Concatenation.1869.3Hardware-in-the-Loop S

45、imulation Setup.1869.4Simulation and Flight Test Results.201xiiContents10Flight Formation of Multiple UAVs.20510.1 Introduction.20510.2 Leader-Follower Formation.20710.2.1 Coordinate Systems in Formation Flight.20710.2.2 Kinematics Model.20910.3 Collision Avoidance.21010.4 Flight Test Results.21411V

46、ision-Based Target Following.22311.1 Introduction.22311.2 Coordinate Frames Used in Vision Systems.22411.3 Camera Calibration.22511.3.1 Camera Model.22611.3.2 Intrinsic Parameter Estimation.22711.3.3 Distortion Compensation.22911.3.4 Simplified Camera Model.23011.4 Vision-Based Ground Target Followi

47、ng.23011.4.1 Target Detection.23111.4.2 Image Tracking.23611.4.3 Target Following Control.24411.5 Experimental Results.251References.255Index.263AbbreviationsAcronymsA/DAnalog-to-DigitalAHRSAttitude Heading Reference SystemAOAAngle Of AttackCAMCameraCAMSHIFTContinuously Adaptive Mean ShiftCCDCharge-

48、Coupled-DeviceCEPCircular Error ProbableCFCompact FlashCGCenter of GravityCIFERComprehensive Identification from FrEquency ResponsesCMOSComplementary Metal-Oxide-SemiconductorCMMCommunicationCORBACommon Object Request Broker ArchitectureCPUCentral Processing UnitCTLControlD/ADigital-to-AnalogDAQData

49、 AcquisitionDARPADefense Advanced Research Projects AgencyDCDirect CurrentDGPSDifferential Global Positioning SystemDLGData LoggingDOFDegree Of FreedomDSPDigital Signal ProcessorECEFEarth-Centered Earth-FixedEKFExtended Kalman FilterEMIElectromagnetic InterferenceFPSFrames Per SecondGPSGlobal Positi

50、oning SystemGUIGraphical User InterfaceHITLHardware-In-The-LoopxiiixivAbbreviationsHSVHue,Saturation,ValueIMGImageIMUInertial Measurement UnitINSInertial Navigation SystemI/OInput/OutputJPEGJoint Photographic Experts GroupLi-PoLithium-PolymerLMMLightweight Multi-role MissileLQRLinear Quadratic Regul