• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.4
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• pp.467-473
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• 2017

In this paper, impact characteristics of a water entry gliding vehicle were analyzed using a finite element method. To guarantee the validity of analysis results, a convergence test was performed for several ratios of Euler and Largrange mesh sizes. The impact coefficient was calculated with respect to entry angles and angle of attacks. It can be observed that the impact coefficient was large at a high cross-section gradient and was also affected by cavitation. This study could be useful in the preliminary design stage of a water entry bomb development.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.859-866
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• 2009

The article discusses an issue of estimating the airspeed of an autonomous flying vehicle. Airspeed is the difference between ground speed and wind speed. It is desirable to know any two among the three speeds for navigation, guidance and control of an autonomous vehicle. For example, ground speed and position are used to guide a vehicle to a target point and wind speed and airspeed are used to maximize flight performance such as a gliding range. However, the target vehicle has not an airspeed sensor but a ground speed sensor (GPS/INS). So airspeed or wind speed has to be estimated. Here, airspeed is to be estimated. A vehicle's dynamics and its dynamic parameters are used to estimate airspeed with attitude and angular speed measurements. Kalman filter is used for the estimation. There are also two major sources arousing a robust estimation problem; wind speed and altitude. Wind speed and direction depend on weather conditions. Altitude changes as a vehicle glides down to the ground. For one reference altitude, multiple model Kalman filters are pre-designed based on several reference airspeeds. We call this group of filters as a cluster. Filters of a cluster are activated simultaneously and probabilities are calculated for each filter. The probability indicates how much a filter matches with measurements. The final airspeed estimate is calculated by summing all estimates multiplied by probabilities. As a vehicle glides down to the ground, other clusters that have been designed based on other reference altitudes are activated. Some numerical simulations verify that the proposed method is effective to estimate airspeed.

• Advances in aircraft and spacecraft science
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• v.5 no.5
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• pp.551-579
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• 2018

This work is concerned with the motion of propeller driven airplanes, flying at constant velocity on ascending or descending rectilinear trajectories. Its purpose is to provide important features of rectilinear flights that are required for airplane trajectory planning but that cannot be found already published. It presents a method for calculating the amount of fuel used, the restrictions on the trajectory parameters, as inclination and speed, which result from the load factor, the lift coefficient, the positivity and upper boundedness of the power available. It presents a complete discussion of both ascending and descending flights, including gliding. Some original remarks are made about the parameters of gliding. It shows how to construct tables of parameters allowing to identify rapidly flyable trajectories. Sample calculations are shown for the Cessna 182 and a Silver Fox like unmanned aerial vehicle.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.267-281
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• 2012

This paper reviews the flight mechanics and control of birds and bird-size aircraft. It is intended to fill a niche in the current survey literature which focuses primarily on the aerodynamics, flight dynamics and control of insect scale flight. We review the flight mechanics from first principles and summarize some recent results on the stability and control of birds and bird-scale aircraft. Birds spend a considerable portion of their flight in the gliding (i.e., non-flapping) phase. Therefore, we also review the stability and control of gliding flight, and particularly those aspects which are derived from the unique control features of birds.

• Journal of Ocean Engineering and Technology
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• v.28 no.6
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• pp.560-565
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• 2014

In this study, the problem of trajectory optimization for underwater gliders considering depth constraints is discussed. Typically, underwater gliders are controlled to dive and climb in a saw-tooth pattern at constant gliding angles. This approach is effective and close to optimal for deep water applications. However, the optimal path deviates from the saw-tooth path in shallow water conditions. This study focuses on finding more efficient gliding paths that can minimize the traverse time in the horizontal plane when the water depth is limited. The trajectory optimization problem is formulated into a minimum time control problem with inequality path constraints and hydrodynamic drag effects. A numerical approach based on the pseudo-spectral method is adopted as a solution approach, and the simulation results are presented.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.2
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• pp.865-874
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• 2019

A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD controllers to control elevator/rudder angles. The LQR controller controls the pumping speed into the buoyancy bag and the moving speed to locate the battery. One of the PD controller controls the elevator angle to assist the LQR controller, and the other controls the rudder angle to adjust the direction of the underwater glider. A reduced order Luenberger observer is adopted to estimates the center of gravity of the glider and the buoyancy mass that are essential but cannot be measured. Mathematical simulation using Matlab proved the validity of the proposed controller to obtain better performance than conventional LQR only controller under the influence of sea current.

• Journal of Institute of Convergence Technology
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• v.7 no.1
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• pp.23-29
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• 2017

A pterosarus is an ancient flying reptile and the first vertebrate with powered flight. The shapes of the pretosarus'airfoil in the published literature are reconstructed. The aerodynamics of the Pterosarus is obtained using a free software XFOIL. The steady aerodynamics of the Pterosarus' airfoil are investigated focusing on the gliding performance. The numerical results are validated by comparing the computed aerodynamic coefficients with the measured data. The secretes of the Pterosarus' highly camberred airfoil are elucidated by comparing the aerodynamics with that of the birds'.

• Journal of the Korean Society of Propulsion Engineers
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• v.14 no.4
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• pp.65-70
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• 2010

A small unmanned aerial vehicle(UAV), which uses a propulsion system consisting of electric motor and battery, weighs less than 8 kg, capable of hand launch. Because it is easy to operate and able to transmit image information in real time, the use of small UAV has been increasing. However, very few analysis methods or analysis results on flight performance of the small UAV have been known so far. In this paper, the performance analysis methods of a small UAV, which is manufactured to study an electric powered UAV, are suggested and their results are achieved. Aerodynamic data of the vehicle are obtained by making use of gliding performance from actual flight test, and required thrust and required power by flight speed are predicted. In addition, the methods to predict range and endurance in case of using battery as power source are suggested and their results are achieved.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.9
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• pp.731-743
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• 2020

The hypersonic glide vehicle ascends to a high altitude by a rocket booster, separates it from the booster, and glides at a hypersonic speed of Mach 5 or higher at an altitude of about 30~70 km, changing its direction in the atmosphere. Since it moves on an unpredictable flight path rather than a parabolic trajectory, it is difficult to intercept with current missile defense systems. The U.S. conducted HTV-2 and AHW flight tests in the early 2010s to confirm the possibility of hypersonic gliding flights, and recently it has been developing hypersonic glide vehicle systems such as LRHW and ARRW. China has conducted several flight tests of the DF-ZF (WU-14) glide vehicle since 2014 and has been operating it with DF-17 missiles. Russia has conducted hypersonic glide vehicle research since the former Soviet Union, but it has repeatedly failed, and recently it has been successfully tested with the Avangard (Yu-71) glide vehicle mounted on the SS-19 ICBM. In this paper, the characteristics, flight test cases, and development trends of hypersonic glide vehicles developed or currently being developed in the United States, China, Russia, Japan, India, and Europe are reviewed and summarized.