Development and Conversion Flight Test of a Small Tiltrotor Unmanned Aerial Vehicle

Choi, Sang Won; Kang, Young-Shin; Chang, Sung-Ho; Koo, Sam-Ok; Kim, Jai Moo

doi:10.2514/1.46180

Cited by 31 publications

(17 citation statements)

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“…In this study, cycling control method has been used during hover and transition flight phases. There is also another tilt rotor UAV, called Smart UAV, has been designed, fabricated and tested by KAI 10 . In this study, a control law has been developed and the conversion flight behavior has been investigated experimentally.…”

Section: Introductionmentioning

confidence: 99%

Design and Flight Test Study of a VTOL UAV

Öznalbant

Kavsaoğlu

2015

53rd AIAA Aerospace Sciences Meeting

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The aim of this paper is to present the ongoing studies about design and fight testing of a fixed wing UAV which is able to take-off and land vertically. The UAV concept discussed in this study has three propeller engines. Two of them are ducted propellers and placed at each wing tips. The third engine is placed on the tail boom. The ducted propellers can rotate up to ninety degrees around the wing axis. The aircraft, which is planned to be built at the end of this study, will be able to take-off vertically, perform transition to conventional flight and land vertically. The aircraft will also have capability of conventional take-off, cruise flight and landing. In this study, the design considerations of the aircraft in terms of balance and stability ha been examined. The equations of motion of the aircraft have been modelled with nonlinear approach, and the hover and transition flight attitudes have been simulated via numerical calculations. It has been showed that the aircraft has an inherent unstable behavior during hover flight. Implementation of a Proportional and Integral (PI) control methodology in to the simulation provided artificial stability for both longitudinal and lateral motions. The transition flight equations have also been modelled and solved for open loop and closed loop control approaches. The rear motor thrust variations during tilting for both control approaches have been compared. A control algorithm which is implemented into a microcontroller onboard, has been developed for experimental studies. An indoor and an outdoor low cost test frames have been constructed. A single-closed loop and nested (cascade) closed loop control strategies have been applied to the test frames and artificial stability is achievedduring hover flight experimentally. The simulation results of hover and transition flights are presented in this article. The current status and results of the hover flight experiments are also summarized. The transition and cruise flight studies are planned as future work. Nomenclature AC = aircraft VTOL = vertical take-off and landing EOM = equation of motion = mass cg = center of gravity np = neutral point , , Z = components of resultant external force acting on aircraft , , = components of resultant external moment acting on aircraft , , = scalar components of velocity vector in body axis , , = scalar components of angular velocity vector in body axis , , = Euler angles , ,

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Section: Introductionmentioning

confidence: 99%

Design and Flight Test Study of a VTOL UAV

Öznalbant

Kavsaoğlu

2015

53rd AIAA Aerospace Sciences Meeting

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“…erefore, the TRUAVs have a wider range of applications than the other types of aircraft. A large proportion of the early studies on such aircraft focus on dual tilt-rotors such as Bell Eagle Eye [2], Smart UAV of KARI [3], and BIROTAN [4]. e Dual-TRUAVs have two tiltable rotors installed on the wingtips.…”

Section: Introductionmentioning

confidence: 99%

Design of Flight Control System for a Novel Tilt-Rotor UAV

Chen

Jia

2020

Complexity

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is paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. en, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. e designed flight control law has a simple structure with a high reliability in engineering. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy.

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“…Before conducting the flight test of the full-scale Smart UAV, the control law of the tilt-rotor UAV was verified through fully autonomous flights of a 40% scaled model named TR-40 [9][10][11]. The control law was designed using the general tiltrotor nonlinear simulation model based on NASA technical reports [12,13].…”

Section: Introductionmentioning

confidence: 99%

Development of Flight Control System and Troubleshooting on Flight Test of a Tilt-Rotor Unmanned Aerial Vehicle

Kang¹,

Park²,

Cho³

et al. 2016

International Journal of Aeronautical and Space Sciences

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The full results of troubleshooting process related to the flight control system of a tilt-rotor type UAV in the flight tests are described. Flight tests were conducted in helicopter, conversion, and airplane modes. The vehicle was flown using automatic functions, which include speed-hold, altitude-hold, heading-hold, guidance modes, as well as automatic take-off and landing. Many unexpected problems occurred during the envelope expansion tests which were mostly under those automatic functions. The anomalies in helicopter mode include vortex ring state (VRS), long delay in the automatic take-off, and the initial overshoot in the automatic landing. In contrast, the anomalies in conversion mode are untrimmed AOS oscillation and the calibration errors of the air data sensors. The problems of low damping in rotor speed and roll rate responses are found in airplane mode. Once all of the known problems had been solved, the vehicle in airplane mode gradually reached the maximum design speed of 440km/h at the operation altitude of 3km. This paper also presents a comprehensive detailing of the control systems of the tilt-rotor unmanned air vehicle (UAV).

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Development and Conversion Flight Test of a Small Tiltrotor Unmanned Aerial Vehicle

Cited by 31 publications

References 1 publication

Design and Flight Test Study of a VTOL UAV

Design and Flight Test Study of a VTOL UAV

Design of Flight Control System for a Novel Tilt-Rotor UAV

Development of Flight Control System and Troubleshooting on Flight Test of a Tilt-Rotor Unmanned Aerial Vehicle

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