Journal of Aerospace System Engineering (항공우주시스템공학회지)

The Society for Aerospace System Engineering (항공우주시스템공학회)
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Design of Guidance Law and Lateral Controller for a High Altitude Long Endurance UAV

고고도 장기체공 무인기의 유도 및 방향축 제어 알고리즘 설계

  • Received : 2017.11.10
  • Accepted : 2019.04.10
  • Published : 2019.04.30
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Abstract

This paper elaborates on the directional axis guidance and control algorithm used in mission flight for high altitude long endurance UAV. First, the directional axis control algorithm is designed to modify the control variable such that a strong headwind prevents the UAV from moving forward. Similarly, the guidance algorithm is designed to operate the respective algorithms for Fly-over, Fly-by, and Hold for way-point flight. The design outcomes of each guidance and control algorithm were confirmed through nonlinear simulation of high altitude long endurance UAV. Finally, the penultimate purpose of this study was to perform an actual mission flight based on the design results. Consequently, flight tests were used to establish the flight controllability of the designed guidance and control algorithm.

본 논문에서는 고고도 장기체공 무인항공기의 임무 비행을 위한 방향축 유도, 제어 알고리즘에 대해 기술 하였다. 먼저 방향축 제어 알고리즘은 임무 기간 중 무인항공기가 전진비행을 할 수 없을 맞바람에 대해 제어 변수를 전환하는 알고리즘을 설계하였다. 유도법칙은 항로점 비행을 위해 Fly-over, Fly-by, Hold 속성에 대한 각각의 알고리즘을 적용하였다. 무인항공기의 비선형 시뮬레이션을 통해 각 유도, 제어 알고리즘의 설계 결과를 확인하였다. 본 연구는 설계 결과를 토대로 실제 임무 비행을 수행하는 것을 목적으로 한다. 따라서 본 연구 내용을 기반으로 비행 시험을 통해 설계한 유도 제어 알고리즘의 비행 운용성을 확인하였다.

Keywords

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Fig. 1 Structure of Lateral controller

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Fig. 3 Course Control Result under Wind (state)

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Fig. 4 Course Control result under Wind (trajectory)

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Fig. 5 Course Control Result under Wind with Controller Switch Algorithm (state)

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Fig. 12 Hold (Stationary Loiter Circles) Algorithm

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Fig. 13 Vector Field for Stationary Loiter Circles

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Fig. 14 Guidance Simulation Result(Trajectory)

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Fig. 15 Guidance Simulation Result (Course Control)

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Fig. 16 Flight Test Result under Wind with Controller Switch Algorithm (State)

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Fig. 17 Flight Test Result under Wind with Controller Switch Algorithm (Trajectory)

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Fig. 18 Autonomous Flight Test Result (Trajectory)

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Fig. 19 Autonomous Flight Test Result during Fly-over, Fly-by (Course Control)

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Fig. 20 Autonomous Flight Test Result during Hold (Course Control)

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Fig. 2 Structure of Heading and Course controller

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Fig. 7 Structure of Guidance Algorithm

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Fig. 6 Course Control Result under Wind with Controller Switch Algorithm (trajectory)

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Fig. 8 Geometry between NED Frame and Navigation Frame

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Fig. 9 Fly-over Guidance Algorithm

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Fig. 10 Fly-over Arrival decision Algorithm

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Fig. 11 Fly-by Arrival decision Algorithm

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