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چكيده انگليسي :

A Hierarchical Control of a Model Helicopter Mohsen Majnoon m majnoon@ec iut ac ir Date of submission August 12 2009 Depeatment of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 8311 Iran Degree M ScLanguage Farsi Supervisors Zakeri Y Zakeri@cc iut ac ir Hosseinia S hoseinia@cc iut ac ir Abstract The use of autonomous vehicles for a wide variety of applications has been increasing during the latestyears Land based vehicles can be used for many purposes but are not as versatile as could be desiredbecause they are dependent on the terrain Aerial vehicles such as aeroplanes and helicopters do not dependon the terrain in the area of operation as the land based vehicle An autonomous helicopter has an advantagein maneuverability compared to an autonomous aeroplane which is not able to hover stand still in the air This and the ability to take off and land in limited spaces are clear advantages of the autonomous helicopter An autonomous helicopter is a versatile platform for a wide variety of applications It can be used insituations as agricultural crop dusting search and rescue missions inspection of bridges or power lines surveillance of larger areas etc Autonomous helicopter research and development has also been increasing the latest years YamahaMotors have since the presentation of the autonomous model helicopter RCASS prototype in 1986 beendeveloping autonomous model helicopters which are used commercially today These helicopters are mainlyused for crop dusting Lots of unmanned aerial vehicles UAV research groups now try to find the ways ofcontrolling model helicopters and test them Berkeley UAV research group Aalborg university UAV group Georgia Tech Aerial Robotics Team are some well known groups They have tested different controllerson their UAVs and the operation of some of the controllers has been quite acceptable This project aims to provide a methodology to design an efficient controller for a rotorcraft UAV Forthe controller design the dynamic model of the helicopter is first derived A helicopter exhibits verycomplicated multi input multi output nonlinear time varying and coupled dynamics exposed to severeexogenous disturbances This poses considerable difficulties for the identification control and generaloperation Using the dynamic equations of motion we can find and derive a socalled Minimum ComplexityHelicopter Simulation Math Model and then simulate this model by Simulink We should then verify themodel and this can be done through some standard tests To handle the problem of controlling such a complicated model a hierarchical strategy is proposed which consists of two controllers The first controller located at the inner loop of the system tries to stabilizethe unstable dynamics of the helicopter For this reason the controller uses an LQ regulator that isimplemented using of gain scheduling method Before designing this controller we should linearize thenonlinear model that we have derived before For this reason we use three different linearization methodsthat are Taylor series blackbox method and a numeral method The second controller is a nonlinear modelpredictive tracking controller which helps us by trajectory planning and also generating direct inputs to theplant to improve tracking of special trajectories As we know some states of helicopter like the flapping angles cannot be measured directly Toovercome this problem we propose an extended Kalman filter EKF and estimate them using previous inputsand outputs and by having the dynamic model of helicopter Then we can use the estimated states incontrollers instead of the states At last we simulate the controlled system and try to improve its performance by setting someparameters and weighting matrices in both the LQ regulator and the nonlinear model predictive controller Keywords UAV Hierarchical Control Nonlinear Model Predictive Control LQ Regulator Extended Kalman Filter

مجنون، محسن

كنترل سلسله مراتبي يك بالگرد مدل

كنترل پيش بيني غير خطي , كنترل Q سارگولاتوري , بالگرد مدل بدون سرنشين , جسم صلب , فيلتر كالمن