COLLABORATIVE CONTROL BASED ON THE TOTAL ENERGY OF THE FLIGHT SPEED AND ALTITUDE OF A SMALL UNMANNED AERIAL VEHICLE
S. A. Belokon, Yu. N. Zolotukhin, A. S. Maltsev
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: unmanned aerial vehicle, total energy control method, simulation, flight tests, longitudinal motion control
Abstract
Comparative results of a real flight experiment and a flight simulation of a small unmanned aerial vehicle are presented. A longitudinal motion control system is developed using a total energy approach. The outputs of the total energy controller are converted into control signals for deflecting the aircraft rudders in pitch and roll, as well as into an engine thrust command. The model of the aircraft motion is obtained in the form of tabular dependencies of the dimensionless coefficients of forces and moments on the angles of attack, slip, and elevon deflection. The total energy control method is tested for a small flying-wing-type aircraft. During the simulation process, two modes are used: capturing and maintaining the altitude and capturing the angle of inclination of the trajectory; in the flight experiment, the model of capturing and maintaining the altitude is used. The structure of the control system and the results of modeling and a real flight experiment are presented.
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