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Dynamics and Control ofFixed-wing UAV
Moncrief-O’Donnell Chair, UTA Research Institute (UTARI)The University of Texas at Arlington, USA
F.L. Lewis, NAI
Director, Key Laboratory of Autonomous Systems and Network Control, MoESouth China University of Technology, Guangzhou
Hai-Long Pei
and
Moncrief-O’Donnell Chair, UTA Research Institute (UTARI)The University of Texas at Arlington, USA
and
F.L. Lewis, NAI
Talk available online at http://www.UTA.edu/UTARI/acs
Dynamics and Control ofFixed-wing UAV
Qian Ren Consulting Professor, State Key Laboratory of SyntheticalAutomation for Process Industries
Northeastern University, Shenyang, China
Supported by :NSF AFOSR EuropeONR – Marc SteinbergUS TARDEC
Supported by :China NNSFChina Project 111
B.L. Stevens, F.L. Lewis, and E.N. Johnson, Aircraft Control and Simulation: Dynamics, Control, and Autonomous Systems, John Wiley and Sons, New York, Third Edition, 2015.
p. 76
xyzUVW
X
PQR
Position
Linear velocity
Angular position –attitudes
Angular velocity
The Aircraft States
xyzUVW
X
PQR
Position
Linear velocity
Angular position –attitudes
Angular velocity
The Aircraft States
Roll
Pitch
yaw
Flight dynamics of fixed wing UAV
• The earth‐fixed reference frame• The body‐fixed reference frame
Hai‐Long Pei, SCUT
Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT
Flight dynamics of fixed wing UAV
• The standard control surfaces:– Ailerons (rolling)– Elevator (pitching)– Rudder (yawing)
Hai‐Long Pei, SCUT
Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT
Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT
Flight dynamics of fixed wing UAV
• The Plant
Hai‐Long Pei, SCUT
p. 111
p. 118
Flight dynamics of fixed wing UAVHai‐Long Pei, SCUT
Longitudinal Dynamics
Ex Ax Bu
p. 127
Longitudinal DynamicsLateral‐Directional Dynamics
Angle of attackPitch rateTotal velocitypitch
p. 206
x Ax Bu
s j
j
angle of attack and pitch rate q
total velocityand pitch
Tv
p. 259
p. 261
Ex Ax Bu
Lateral‐Directional Dynamicsp. 128
SideslipRollRoll rateYaw rate
p. 207
x Ax Bu
s j
j
roll rate p
roll rate p and yaw rate r
roll angle
Control of fixed wing UAV
• Cascade control structure
Hai‐Long Pei, SCUT
SASCASautopilots
Aircraft Control Systems
Stability Augmentation Systems ‐ SAS
Control Augmentation Systems ‐ CAS
Autopilots
p. 257
4.4 STABILITY AUGMENTATION SYSTEMS p. 287
Damps out the dutch roll mode
Use lateral dynamics
p. 304
Use short period approximation dynamics
p. 311
Use longitudinal dynamics
Use lateral‐directional dynamics
p. 330
Steady‐state turn
NAVIGATIONAL AUTOPILOTS p. 343
Holds constant compass heading
Homes in on radar beacon
Radarbeacon
a/c
p. 335
Glide path
Glide path angle Tv
Off glide‐pathDistance d
Control of fixed wing UAV
• Way point control
Hai‐Long Pei, SCUT
Aircraft Simulation‐ nonlinear F‐16 aircraft
