TY - GEN
T1 - Stability Augmentation Control of Tilting Dual-Rotor UAV with Balance Tail
AU - Xu, Yurui
AU - Gao, Liang
AU - Liu, Benshan
AU - Zhang, Junming
AU - Zhu, Yanhe
AU - Zhao, Jie
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In order to improve the stability of the dual-rotor Unmanned Aerial Vehicle (UAV), a balance tail is designed to be equipped on the UAV. With reasonable movement, the balance tail may generate additional force and moment which can promote the UAV to be stable rapidly when the UAV is ready to stop. Firstly, the kinematics and dynamics of the tilt-rotor UAV are modeled by Newton-Euler method, and the relations between the movement of the balance tail and the additional force and moment are deduced. The flight control of tilting dual-rotor UAV is realized. Then, the influences of the balance tail on the dual-rotor UAV are analyzed by the nonlinear simulation under the conditions of different masses of the tail and swing rules. Finally, the tail coordinating with the motor tilting and active control of the tail based on cascade PID are explored for stability augmentation of the UAV, respectively. and the effectiveness of the two methods is verified by simulation.
AB - In order to improve the stability of the dual-rotor Unmanned Aerial Vehicle (UAV), a balance tail is designed to be equipped on the UAV. With reasonable movement, the balance tail may generate additional force and moment which can promote the UAV to be stable rapidly when the UAV is ready to stop. Firstly, the kinematics and dynamics of the tilt-rotor UAV are modeled by Newton-Euler method, and the relations between the movement of the balance tail and the additional force and moment are deduced. The flight control of tilting dual-rotor UAV is realized. Then, the influences of the balance tail on the dual-rotor UAV are analyzed by the nonlinear simulation under the conditions of different masses of the tail and swing rules. Finally, the tail coordinating with the motor tilting and active control of the tail based on cascade PID are explored for stability augmentation of the UAV, respectively. and the effectiveness of the two methods is verified by simulation.
KW - Dual-rotor UAV
KW - attitude control
KW - balance tail
KW - stability augmentation control
UR - https://www.scopus.com/pages/publications/85146495735
U2 - 10.1109/ICUS55513.2022.9986615
DO - 10.1109/ICUS55513.2022.9986615
M3 - 会议稿件
AN - SCOPUS:85146495735
T3 - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
SP - 776
EP - 781
BT - Proceedings of 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Unmanned Systems, ICUS 2022
Y2 - 28 October 2022 through 30 October 2022
ER -