UnmannedRotorcraftSystems.pdf
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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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3、a,Chandrasekhar Kambhampati and KevinWarwickRobust Autonomous GuidanceAlberto Isidori,Lorenzo Marconiand Andrea SerraniDynamic Modelling of Gas TurbinesGennady G.Kulikov and Haydn A.Thompson(Eds.)Control of Fuel Cell Power SystemsJay T.Pukrushpan,Anna G.Stefanopoulouand Huei PengFuzzy Logic,Identifi
4、cation and PredictiveControlJairo Espinosa,Joos Vandewalleand Vincent WertzOptimal Real-time Control of SewerNetworksMagdalene Marinaki and MarkosPapageorgiouProcess Modelling for ControlBenot CodronsComputational Intelligence in Time SeriesForecastingAjoy K.Palit and Dobrivoje PopovicModelling and
5、Control of Mini-FlyingMachinesPedro Castillo,Rogelio Lozano andAlejandro DzulShip Motion ControlTristan PerezHard Disk Drive Servo Systems(2nd Ed.)Ben M.Chen,Tong H.Lee,Kemao Pengand Venkatakrishnan VenkataramananMeasurement,Control,andCommunication Using IEEE 1588John C.EidsonPiezoelectric Transduc
6、ers for VibrationControl and DampingS.O.Reza Moheimani and Andrew J.FlemingManufacturing Systems Control DesignStjepan Bogdan,Frank L.Lewis,ZdenkoKova ci c and Jos Mireles Jr.Windup in ControlPeter HippeNonlinear H2/HConstrained FeedbackControlMurad Abu-Khalaf,Jie Huangand Frank L.LewisPractical Gre
7、y-box Process IdentificationTorsten BohlinControl of Traffic Systems in BuildingsSandor Markon,Hajime Kita,Hiroshi Kiseand Thomas Bartz-BeielsteinWind Turbine Control SystemsFernando D.Bianchi,Hernn De Battistaand Ricardo J.MantzAdvanced Fuzzy Logic Technologiesin Industrial ApplicationsYing Bai,Han
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
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