Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Guidance and Control Algorithm for Waypoint Following of Tilt-Rotor Airplane in Helicopter Flight Mode

틸트로터 항공기의 경로점 추종 비행유도제어 알고리즘 설계 : 헬리콥터 비행모드

  • 하철근 (울산대학교 수송시스템공학부) ;
  • 윤한수 (울산대학교 수송시스템공학부)
  • Published : 2005.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper deals with an autonomous flight guidance and control algorithm design for TR301 tilt-rotor airplane under development by Korea Aerospace Research Institute for simulation purpose. The objective of this study is to design autonomous flight algorithm in which the tilt-rotor airplane should follow the given waypoints precisely. The approach to this objective in this study is that, first of all, model-based inversion is applied to the highly nonlinear tilt-rotor dynamics, where the tilt-rotor airplane is assumed to fly at helicopter flight mode(nacelle angle=0 deg), and then the control algorithm, based on classical control, is designed to satisfy overall system stabilization and precise waypoint following performance. Especially, model uncertainties due to the tiltrotor model itself and inversion process are adaptively compensated in a simple neural network(Sigma-Phi NN) for performance robustness. The designed algorithm is evaluated in the tilt-rotor nonlinear airplane in helicopter flight mode to analyze the following performance for given waypoints. The simulation results show that the waypoint following responses for this algorithm are satisfactory, and control input responses are within control limits without saturation.

Keywords

References

  1. P. B. Harendra, M. J. Joglekar, T. M. Gaffey and R. L. Marr, 'A mathematical model for real time flight simulation of the bell model 301 tilt rotor research aircraft', REPORT 301-099-001, 1973
  2. K. S. Hong and C. S. Kim, 'Linear stable systems', IEEE Trans. on Automatic Control, vol. 33, no. 3, pp. 1234-1245,1993
  3. R. C. Baker and B. Charlie, 'Nonlinear unstable systems', International Journal of Control, vol. 23, no. 4,pp. 123-145,1989
  4. B. S. Kim and A. J. Calise, 'Nonlinear flight control using neural network', AIAA Journal of Guidance, Control and Dynamics, vol. 20, no. 1,pp.1270-1277, 1996
  5. T. Troudet and S. Garg, and W. C. Memill, 'Neural. network application to aircraft control system design', Proc. of AIAA Guidance, Navigation and Control Conference, vol. II, Aug. 1991, pp. 993-1009
  6. S. K. Kannan and E. N. Johnson 'Adaptive trajectory based control for autonomous helicopters', In AIAA Digital Avionics Conference, number 358, Irvine, CA, October 2002
  7. H. S. Yoon and C. K. Ha, 'Robust adaptive nonlinear control for tilt-rotor UAV', 2004 ICCAS International Conference on Control, Automation and systems, Bangkok Thailand, Aug. 25-272004, pp. 57-62
  8. R. T. Rysdyk and A. J. Calise 'Adaptive model inversion flight control for tiltrotor aircraft', American Helicopter Society 54th Annual Forum, May 20-22, 1998
  9. R. T. Rysdyk and A. J. Calise 'Nonlinear adaptive control of tiltrotor aircraft using neural networks', SAE/AIAA World Aviation Congress, October14-16, 1997
  10. J. V. R. Prasad and A. M. Lipp 'Modeling and nonlinear controller development for the apache helicopter using the GTNONCON2', Project final report. School of Aerospace Engineering Geogia Institute Of Technology. January 1992
  11. Anon, 'Handling qualities requirements for military rotorcraft', Aeronautical Design Standard-33, US Army Aviation and Missile Command, 2000