Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
권호 표지
DOI QR코드

DOI QR Code

Longitudinal Control Using Linear Quadratic Tracker with Integrator and Handling Qualities for Unmanned Rotorcraft

LQTI를 이용한 회전익 무인항공기 종방향 조종성 평가를 위한 제어법칙 설계 및 조종성 평가

  • Lee, Changmin (Department of Aerospace Engineering, Cungnam National University) ;
  • Kim, Sungkeun (Department of Aerospace Engineering, Cungnam National University) ;
  • Jo, Seunghwan (Department of Aerospace Engineering, Cungnam National University) ;
  • Ra, Chunggil (Department of Aerospace Engineering, Cungnam National University) ;
  • Kim, Ki-joon (Department of Aerospace Engineering, Cungnam National University) ;
  • Suk, Jinyoung (Department of Aerospace Engineering, Cungnam National University) ;
  • Kim, Seungkeun (Department of Aerospace Engineering, Cungnam National University)
  • Received : 2016.08.29
  • Accepted : 2017.04.07
  • Published : 2017.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

A virtual simulation test program to carry out the handling qualities of unmanned Rotorcraft has developed by using the MATLAB GUIDE(Graphic User Interface Development Environment). The handling quality evaluation program based on ADS-33E contributes to design the flight control system and to evaluate handling qualities. In addition, Linear Quadratic Tracker with Integrator(LQTI) attitude controller based on Linear Quadratic Regulator(LQR) for to rotorcraft BO-105C and the effects of the handling qualities is analyzed change to weight matrices of the Q and R.

본 논문에서는 회전익 무인항공기의 조종성 평가를 수행하기 위한 가상모의시험용 프로그램을 MATLAB GUIDE(Graphic User Interface Development Environment)를 활용하여 개발하였다. ADS-33E에 기반을 둔 조종성 평가 프로그램은 비행제어시스템을 개발하고 조종성을 평가하는 데에 있어 시간과 비용을 경감시킬 수 있을 것으로 사료된다. 또한, Linear Quadratic Regulator(LQR)기반의 Linear Quadratic Tracker with Integrator(LQTI) 자세제어기를 BO-105C 회전익 항공기에 적용하여 조종성을 평가하고 Q와 R의 가중치에 따른 조종성에 대한 경향을 분석하였다.

Keywords

References

  1. Kang, Y. S., Park, B. J., and Yu, C. S., "Current Industrial and Technological Trends in Aerospace," Korea Aerospace Research Institute, Vol. 4, No. 2, 2006, pp. 55-67.
  2. Kim, J. H., Oh, G. R., Choi, S., Kim, M. J., Ahn, I. G., Park, J. Y., Hwang, C. J., "The Current Industrial & Technological Trends of Rotorcraft in the World," Korea Aerospace Research Institute, Vol. 11, No. 2, 2013, pp. 12-23.
  3. Jung, H. H., Hong, S. H., Kim, D. M., and Suk, J. Y., "Assessment of a Longitudinal Axis Handling Qualities for Unmanned Rotorcraft Using ADS-33E," The Korean Society For Aeronautical And Space Sciences, 2009, pp. 314-317.
  4. Jung, H. H., Jung, J. I., and Suk, J. Y., "A Study on ADS-33E with Application to the Assessment of Handling Quality for Unmanned Rotorcraft," The Korean Society For Aeronautical And Space Sciences, 2010, pp. 1418-1421.
  5. Liu, H., Geng, L., and Yisheng, Z., "Robust LQR Attitude Control of a 3-DOF Laboratory Helicopter for Aggressive Maneuvers," IEEE Transactions on Industrial Electronics, Vol. 60, No. 10, 2013, pp. 4627-4636. https://doi.org/10.1109/TIE.2012.2216233
  6. Kim, J. H., Jang, Y. J., Lee, W. C., Kang, G. T., "Adaptive Fuzzy Control of Helicopter," Journal of Korean institute of intelligent systems, Vol. 13, No. 5, 2003, pp. 564-570. https://doi.org/10.5391/JKIIS.2003.13.5.564
  7. Park, B. J., Hong, C. H., "Nonlinear Adaptive Control of Unmanned Helicopter Using Neural Networks Compensator," The Korean Society For Aeronautical And Space Sciences, Vol. 38, No. 4, 2010, pp. 335-341. https://doi.org/10.5139/JKSAS.2010.38.4.335
  8. Park, S. U., Kim, Y. D., "Robust Control of a Small Unmanned Helicopter Using Model-Error Control Synthesis," The Korean Society For Aeronautical And Space Sciences, 2011, pp. 180-185.
  9. United States Army Aviation and Missile Command, Aeronautical Design Standard Performance Specification Handling Qualities Requirements For Military Rotorcraft, USA, 2000