Effects of Gyroscopic Coupling and Countertorque in a Fixed-Wing Nano Air Vehicle

Pushpangathan, Jinraj V; Bhat, M. Seetharama; Kandath, Harikumar

doi:10.2514/1.c034280

Cited by 13 publications

(30 citation statements)

References 6 publications

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“…Since the applied acceleration is perpendicular to the velocity vector, the MAV follows a circular path with an instantaneous radius of curvature inversely proportional to the magnitude of the applied acceleration. The constraint on the applied acceleration a c can be given as in 24 a c < V a 2 R min (19) Using equations ( 18) and ( 10), ( 19) can be written as…”

Section: Constraint On Minimum Turn Radiusmentioning

confidence: 99%

“…Here / r is a constant value less than the maximum allowed roll angle / max of the MAV. When jqj � 20 0 , the feasibility of reaching the waypoint is verified using equation (19) and subsequently the control law given in equation ( 53) is employed as the IGC framework is valid. When the range (r a ) is less than a pre-defined threshold r t , the waypoint is considered to be reached and the entire process is repeated for a new waypoint.…”

Section: Waypoint Navigation Algorithm Using Igc Frameworkmentioning

confidence: 99%

“…5 The effects of asymmetric propeller wake, motor-propeller counter torque and gyroscopic effects lead to unstable spiral mode dynamics. 5,19 The coupled linear state space model of the MAV is given below. 5 where…”

Section: Preliminariesmentioning

confidence: 99%

See 2 more Smart Citations

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Harikumar

Pushpangathan

Dhall

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part G:

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A solution to the waypoint navigation problem for the fixed wing micro air vehicles (MAV) having a severe coupling between longitudinal and lateral dynamics, in the framework of integrated guidance and control (IGC) is addressed in this paper. IGC yields a single step solution to the waypoint navigation problem, unlike conventional multiple loop design. The pure proportional navigation (PPN) guidance law is integrated with the coupled MAV dynamics. A multivariable static output feedback (SOF) controller is designed for the linear state space model formulated in IGC framework. A waypoint navigation algorithm is proposed that handles the minimum turn radius constraint of the MAV and also evaluates the feasibility of reaching a waypoint. Non-linear simulations with and without wind disturbances are performed on a high fidelity 150 mm wingspan MAV model to demonstrate the proposed waypoint navigation algorithm.

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Section: Constraint On Minimum Turn Radiusmentioning

confidence: 99%

Section: Waypoint Navigation Algorithm Using Igc Frameworkmentioning

confidence: 99%

See 1 more Smart Citation

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Harikumar

Pushpangathan

Dhall

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

show abstract

“…The coupled linear state space shows an unstable spiral mode, whereas the decoupled model fails to capture the unstable spiral mode [5]. The effects of asymmetric propeller wake, motor-propeller counter torque and gyroscopic effects lead to unstable spiral mode dynamics [5], [17]. The coupled linear state space model of the MAV is given in (1).…”

Section: A Coupled Linear State Space Model Of the Mavmentioning

confidence: 99%

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Harikumar

Pushpangathan

Dhall

et al. 2019

Preprint

Self Cite

View full text Add to dashboard Cite

A solution to the waypoint navigation problem for fixed wing micro air vehicles (MAV) is addressed in this paper, in the framework of integrated guidance and control (IGC). IGC yields a single step solution to the waypoint navigation problem, unlike conventional multiple loop design. The pure proportional navigation (PPN) guidance law is integrated with the MAV dynamics. A multivariable static output feedback (SOF) controller is designed for the linear state space model formulated in IGC framework. The waypoint navigation algorithm handles the minimum turn radius constraint of the MAV. The algorithm also evaluates the feasibility of reaching a waypoint. Extensive non-linear simulations are performed on high fidelity 150 mm wingspan MAV model to demonstrate the potential advantages of the proposed waypoint navigation algorithm.

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“…This is due to the counter torque exerted by the rotating propeller.The counter torque cannot be neglected for MAVs as the inertia

is small when compared to bigger UAV. The effects of counter torque on the dynamics of a small fixed wing MAV is explained in [ 24 ].…”

Section: Mav Flight Envelope and Trimmentioning

confidence: 99%

Modeling and Closed Loop Flight Testing of a Fixed Wing Micro Air Vehicle

et al. 2018

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This paper presents the nonlinear six degrees of freedom dynamic modeling of a fixed wing micro air vehicle. The static derivatives of the micro air vehicle are obtained through the wind tunnel testing. The propeller effects on the lift, drag, pitching moment and side force are quantified through wind tunnel testing. The dynamic derivatives are obtained through empirical relations available in the literature. The trim conditions are computed for a straight and constant altitude flight condition. The linearized longitudinal and lateral state space models are obtained about trim conditions. The variations in short period mode, phugoid mode, Dutch roll mode, roll subsidence mode and spiral mode with respect to different trim operating conditions is presented. A stabilizing static output feedback controller is designed using the obtained model. Successful closed loop flight trials are conducted with the static output feedback controller.

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Effects of Gyroscopic Coupling and Countertorque in a Fixed-Wing Nano Air Vehicle

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Cited by 13 publications

References 6 publications

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Integrated guidance and control framework for the waypoint navigation of a miniature aircraft with highly coupled longitudinal and lateral dynamics

Modeling and Closed Loop Flight Testing of a Fixed Wing Micro Air Vehicle

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