Volume 19, Issue 6 (June 2019)                   Modares Mechanical Engineering 2019, 19(6): 1559-1571 | Back to browse issues page

XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Sharifzadeh F, Naghash A. Controller Design for a Ducted Fan MAV Using Dynamic Inversion Method in Lateral Motion. Modares Mechanical Engineering 2019; 19 (6) :1559-1571
URL: http://mme.modares.ac.ir/article-15-20693-en.html
1- Graduated from Aerospace Engineering Faculty, Amir Kabir University of Technology
2- Aerospace Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran , naghash@aut.ac.ir
Abstract:   (2648 Views)
Today, Ducted Fan micro aerial vehicle much attention in the field of business and research due to the duct and, thus, the ability to be safe in enclosed environments. In order to identify and practical help to control and implement the vehicle in various maneuvers, the experimental example of this VTOL MAV was built by of Amirkabir University of Technology. In this research, in the first step, the modeling of the ducted fan is considered. In this way, after obtaining the dynamic model of the fan, the parameters in this model are calculated, using empirical methods. In this regard, the aerodynamic coefficients of the control levels and the inertia of the fan can be mentioned. In the second step, the controller design of the ducted fan is discussed. -Fan MAV control is one of the important issues in designing this fan due to inherent instability. The study of vehicle that reported shows that nonlinear dynamic inversion is an appropriate choice among control methods due to its successful empirical implementation on . Thus, by choosing this method, the control system was designed to follow the desired command of the vehicle in the Simulink simulation environment. In this process, the position command is first applied to the fan and converted by the controller to the command of state control actuators, after which these commands by changing the angles of the control levels of the fan lead to the change in the angles of the fan’s side, the pitch, and and, thus, achieved a desired position. The results indicated that the desired command was correctly followed; also, the stability of the closed loop system was successfully accomplished by using dynamic inversion method for the Ducted Fan MAV.
 
Full-Text [PDF 681 kb]   (1881 Downloads)    
Article Type: Original Research | Subject: Control
Received: 2018/05/10 | Accepted: 2019/02/13 | Published: 2019/06/1

References
1. Fan W, Xiang C, Xu B. Modelling, attitude controller design and flight experiments of a novel micro-ducted-fan aircraft. Advances in Mechanical Engineering. 2018;10(3). [Link] [DOI:10.1177/1687814018765569]
2. Straub BP. Instrumentation and control of a ducted fan unmanned aerial vehicle in hover mode [Dissertation]. Virginia: Virginia Polytechnic Institute; 2016. [Link]
3. Lipera L, Colbourne JD, Tischler MB, Hossein Mansur M, Rotkowitz MC, Patangui P. The micro craft iSTAR micro air vehicle: Control system design and testing. American Helicopter Society 57th Annual Forum, Washington, DC, May 9-11, 2001. Fairfax: American Helicopter Society International; 2001. [Link]
4. Spaulding C, Mansur MR, Tischler M, Hess R, Franklin J. Nonlinear inversion control for a ducted fan UAV. AIAA Atmospheric Flight Mechanics Conference and Exhibit, 15-18 August 2005, San Francisco, California. Reston, VA: AIAA; 2005. [Link] [DOI:10.2514/6.2005-6231]
5. Naldi R, Marconi L, Sala A. Modelling and control of a miniature ducted-fan in fast forward flight. American Control Conference, 11-13 June 2008, Seattle, WA, USA. Piscataway: IEEE; 2008. [Link] [DOI:10.1109/ACC.2008.4586875]
6. Naldi R, Torre A, Marconi L. Robust control of a miniature ducted-fan aerial robot for blind navigation in unknown populated environments. IEEE Transactions on Control Systems Technology. 2015;23(1):64-79. [Link] [DOI:10.1109/TCST.2014.2312929]
7. Zhao H. Development of a dynamic model of a ducted fan VTOL UAV [Dissertation]. Bundoora/Victoria: RMIT University; 2009. [Link]
8. Zhao HW, Bil C, Yoon BH. Ducted fan VTOL UAV simulation in preliminary design. 9th AIAA Aviation Technology, Integration, and Operations Conference (ATIO), 21-23 September 2009, Hilton Head, South Carolina. Reston, VA: AIAA; 2009. [Link]
9. Wang Z, Liu Z, Fan N, Guo M. Flight dynamics modeling of a small ducted fan aerial vehicle based on parameter identification. Chinese Journal of Aeronautics. 2013;26(6):1439-1448. [Link] [DOI:10.1016/j.cja.2013.10.006]
10. Manouchehri A, Hajkarami H, Ahmadi MS. Hovering control of a ducted fan VTOL Unmanned Aerial Vehicle (UAV) based on PID control. International Conference on Electrical and Control Engineering, 16-18 September 2011, Yichang, China. Piscataway: IEEE; 2011. [Link] [DOI:10.1109/ICECENG.2011.6057155]
11. Aruneshwaran R, Wang J, Suresh S, Venugopalan TK. Neural adaptive back stepping flight controller for a ducted fan UAV. 10th World Congress on Intelligent Control and Automation, 6-8 July 2012, Beijing, China. Piscataway: IEEE; 2012. [Link] [DOI:10.1109/WCICA.2012.6358270]
12. Aruneshwaran R, Suresh S, Wang J. Autonomous flight control system for a ducted fan UAV using dynamic inversion. Advances in Control and Optimization of Dynamical Systems (ACODS). Unknown Publication; 2012. [Link]
13. Banazadeh A, Emami SA. Control effectiveness investigation of a ducted-fan aerial vehicle using model predictive controller. International Conference on Advanced Mechatronic Systems, 10-12 Aug 2014, Kumamoto, Japan. Piscataway: IEEE; 2014. [Link] [DOI:10.1109/ICAMechS.2014.6911603]
14. Emami SA, Banazadeh A. Robustness investigation of a ducted-fan aerial vehicle control, using linear, adaptive, and model predictive controllers. International Journal of Advanced Mechatronic Systems. 2015;6(2/3):108-117. [Link] [DOI:10.1504/IJAMECHS.2015.070713]
15. Emami SA, Rezaeizadeh A. Adaptive model predictive control-based attitude and trajectory tracking of a VTOL aircraft. IET Control Theory & Applications. 2018;12(15):2031-2042. [Link] [DOI:10.1049/iet-cta.2017.1048]
16. Sharifzadeh F, Naghash A. Grammian analysis of controllability for ducted fan mav in hover flight condition. 16th International Conference of the Iranian Aerospace Society, Feb 21-23, 2017, Tehran, Iran. Tehran: K. N. Toosi University of Technology; 2017. [Persian] [Link]
17. Zhao H, Sheng SZ, Li JB, Sun CW. Modelling and attitude control of a miniature ducted fan UAV. Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering. 2016;230(5):953-964. [Link] [DOI:10.1177/0954410015602029]
18. Bakhtiarynezhad F, Nouri M. Aerodynamic modeling unmanned aerial vehicle. The 10th Conference of Iranian Aerospace Society, March 1-3, 2011, Tarbiat Modares University, Tehran, Iran. Tehran: Iranian Aerospace Society; 2011. [Persian] [Link]
19. Johnson EN, Turbe MA. Modeling, control, and flight testing of a small ducted-fan aircraft. Journal of Guidance Control and Dynamics. 2006;29(4):769-779. [Link] [DOI:10.2514/1.16380]
20. Alam M, Celikovsky S. On the internal stability of non-linear dynamic inversion: Application to flight control. IET Control Theory & Applications. 2017;11(12):1849-1861. [Link] [DOI:10.1049/iet-cta.2016.1067]
21. Smith MJ, Swei SSM, Tischler MB. A study of the control of Micro Air Vehicles using the linear dynamic inverse approach. AIAA 1st Intelligent Systems Technical Conference, 20-22 September 2004, Chicago, Illinois. Reston, VA: AIAA; 2004. [Link] [DOI:10.2514/6.2004-6218]

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.