Mini Helicopter Research Articles

Control of Helicopter Using Virtual Swashplate

This article presents a virtual swashplate mechanism for a mini helicopter in classic configuration. The propeller bases are part of a passive mechanism driven by main rotor torque modulaton, this mechanism generates a synchronous and opposite change in the propellers angle of attack, then the thrust vector tilts. This approach proposes to control the 6 degrees of freedom of the aircraft using two rotors. The main rotor controls vertical displacement and uses torque modulation and swing-hinged propellers to generate pitch and roll moments and the horizontal displacement while the yaw moment is controlled by the tail rotor. The dynamic model is obtained using the Newton-Euler approach and robust control algorithms are proposed. Experimental results are presented to show the performance of the proposed virtual swashplate in real-time outdoor hover flights.

STEM Outreach Program of Smart Control Helicopter Competition in Malaysia: A Descriptive Analysis

The objective of the paper is to present findings of a Science Technology Engineering and Mathematics (STEM) outreach program on Smart Control Helicopter. The program involved 27 school students in Selangor, Malaysia where they learned a microcontroller board called Arduino to control mini helicopters. Students had exposed to the procedures to assemble simple circuits for the control system, the connection process of the circuit to a microcontroller, and communication with the computer. The activity has equipped the students with basic knowledge in performing accurate programming to maneuver a mini helicopter. A few university students assisted the learning activities based on a developed module. The program was conducted in the form of a competition to self-motivate the students. The students completed a questionnaire and quiz on the technical knowledge of technology and electronics. As a result, students were able to gain knowledge on the related skills and showed active participation during the hands-on activities.

Adaptive Synergetic Controller for Stabilizing the Altitude and Angle of Mini Helicopter

This research proposes ASC (Adaptive Synergetic Controller) for the nonlinear model of MH (Mini Helicopter) to stabilize the desired altitude and angle. The model of MH is highly nonlinear, underactuated and multivariable in nature due to its dynamic uncertainties and restrictions of velocities during the flight. ASC can force the tracking errors of the system states converges to zero in a finite interval of time. The MH system requires smooth controller and fast precise transition response from initial state till the desired state, therefore the parametric calculations and simulations can be done by the proposed ASC algorithm. It is validated that the above simulated results of the proposed controller have a better convergence rate and smoother stability response in order to track the desired altitude and angle when compared with SMC (Sliding Mode Controller). Moreover, it does not need any linearization, transformation and variations in the system model.

Experimental Estimation of Inertia Tensor and Centre of Gravity of a Mini Helicopter

This paper describes the experimental estimation of the mini-helicopter inertia and center of gravity (CG) location. A three degree of freedom inertia test rig and an Inertia Measurement Unit (IMU) were used to measure the oscillation frequencies about three axes under different configurations. These frequency data are then manipulated to estimate the inertia tensor and CG location of the mini-helicopter model.

Controller Development for a Rotary UAV using Physics Based Non-Linear Helicopter Model

Unmanned aerial vehicles are rapidly changing the rules of modern day war. Unmanned helicopters are a recent entity in this league and have a promising future in military as well as in civil applications. However, due to various non-linear phenomenon and effects, the helicopter dynamics are well known to be complex to model mathematically and hence controlling rotary air vehicle is far more challenging than fixed wing platforms. Under the present work, a physics based model of a mini helicopter has been developed and used to design the controller. This paper presents the modelling aspects for the candidate vehicle, preliminary validation using experimental RC flying, overview of controller design based on chosen specifications and few typical results of simulations including the waypoint navigation.

Knowledge-based ant colony optimization method to design fuzzy proportional integral derivative controllers

In this paper, we propose an ant colony optimization (ACO)-based method for the design of the fuzzy proportional integral derivative (FPID) controllers for both single input single output (SISO) systems and multiple input and multiple output (MIMO) systems. Specifically, the method is used such as to minimize or maximize a cost function which quantifies the overall system performance in response to desired inputs. Without loss of generality the sum of squared error is used. The proposed method has the faculty of introducing the available knowledge about the system at hand. In order to show its efficiency, we have applied the method with tree dynamical systems; an inverted pendulum, a mini helicopter and a quadrotor.The simulation results demonstrate the efficiency of the method.

Optimized Discrete Control Law for Quadrotor Stabilization: Experimental Results

This paper deals with the real-time stabilization of a Quadrotor mini helicopter applying a discrete optimal control. A discrete control strategy is better adapted to be executed in a micro-controller, therefore better results are expected with respect to continuous case. Furthermore, the optimal control law allows to helicopter to save energy and then increase its time of flight. The discrete optimal control law is synthesized considering an infinite horizon together with an exact linearization of the nonlinear dynamics of flying vehicle. At the end of this procedure the optimal control law obtained through an exact linearization is simple and easier to tune compared to the optimal strategy where the exact linearization is not performed. Taking into account the obtained experimental results, the proposed control technique produces an appropriate stabilization of the mini UAV.

Designing and Development of PrototypeHover Bike

Our Hover Bike project is a flying motorized machine. It flies with two mini helicopter blades in the front and a jet engine in the back. It will look a lot like a chopper. It will have thrusters to hover, but it will also be able to have wheels, if wanted.Our Hover Bike will be based on present motorcycle technology. We will use the chopper as the basis for our Hover Bike. Current motorcycles have two wheels. Our Hover Bike will change that because it will have thrusters to hover, but it will be able to also change back to having tires.

조선 왕릉의 경관관리를 위한 통합적 시각구조분석모델 모색방안

본 연구는 조선 왕릉의 명확한 공간 및 시각구조특성을 활용하여 그 주변 경관관리를 위해 요청되는 시각구조분석의 최적화 모델개발을 모색한 것으로, 이를 최근의 분석 장비와 기법으로 뒷받침하고자 하였다. 연구 결과 삼차원적 정보모델링인 '스케치업'의 간략화한 자료구축을 통해 이 자료상에서 주요지점과 통경축, 그리고 주변의 저해요소 등을 복합적으로 고려한 연속적 시뮬레이션 기반구축의 선행 실시를 상정하였다. 이후 이들의 경로와 시선방향을 연장하는 좌표 값을 도출하고 이 구간을 헬리캠이 운행하면서 촬영한 실사이미지와 시뮬레이션을 상호 비교함으로서 경관분석과 관리의 효율성이 배가될 수 있음을 제안하였다. 이러한 내용은 그간 소수의 국한된 장소에서 촬영된 이미지를 통해 분석되어온 고정적 지각구조 분석방식의 한계성을 극복할 수 있으며, 시선차단요소들과의 관계성 고찰이 용이한 장점을 보유한다. 아울러 제안된 방식은 주요 시선경로 상의 경관적 변화양상을 포착할 수 있으며, 헬리캠을 이용한 실사 이미지와 스케치업의 가상 이미지 간 호환을 통해 최적화된 장비운영을 가능케 함으로서 분석이후 시간적 변화에 따른 정비계획의 시뮬레이션 자료로서도 용이하게 전환될 수 있다. 상기의 제안은 그간의 조망점, 통경축, 경관관리권역이라는 점, 선, 면, 입체적 환경을 중층적, 연속적, 효율적으로 연계하는 자료로서 기능할 수 있을 것으로 판단된다. 본 연구는 조선왕릉과 주변 경관구조 분석방법론 수립에 치중한 까닭에 실천적 점검이 결여된 상태이나 향후 현장에서의 실천과 점검을 통해 기타 문화재의 경관관리에도 응용될 것을 기대한다. The purpose of this study is to provide the visual landscape modelling on Josun royal tombs and surrounding. The visual landscape of traditional heritage is illustrated by the main view points of analysis. This analysis examines limited view points and cannot reflect a reality of environments. Nowadays various equipments and methodologies are developed for the visual landscape research. This study used new tools for analysis which are Sketch up (3D simulation) and mini helicopter (UAV). With those tools, this research examines not only view points of the analysis but also axis views and disincentive environments as a complex analysis. First of all, the research examined 3D modelling for the virtual simulation and drew coordinates and routes for the UAV operating. Secondly, UAV followed this routes and took linear and continuous views that are real scenes. As a result, it drew 3D simulation could illustrate and control the changing of environments such as the forest density and seasonal variations. Thus, comparing both of them shows efficiently landscape analysis. Thirdly, the study compared virtual and real landscape. Using this 3D modelling, this paper able to elaborate heritage environment and surrounding which omitted by view point analysis. Although this study has limitation practice and exercise on the field, the results and suggestions contribute to the various historic heritage managements and conservations. Moreover, it helps to explain the complex and dimensional landscape analysis.

HAWK: An Unmanned Mini-Helicopter-Based Aerial Wireless Kit for Localization

This paper presents a fully functional and highly portable mini Unmanned Aerial Vehicle (UAV) system, HAWK, for conducting aerial localization. HAWK is a programmable mini helicopter Draganflyer X6 armed with a wireless sniffer Nokia N900. We developed custom PI-Control laws to implement a robust waypoint algorithm for the mini helicopter to fly a planned route. A Moore space filling curve is designed as a flight route for HAWK to survey a specific area. A set of theorems were derived to calculate the minimum Moore curve level for sensing all targets in the area with minimum flight distance. With such a flight strategy, we can confine the location of a target of interest to a small hot area. We can recursively apply the Moore curve-based flight route to the hot area for a fine-grained localization of a target of interest. We have conducted extensive experiments to validate the feasibility of HAWK and our theory. A demo of HAWK in autonomous fly is available at http://www.youtube.com/watch?v=ju86xnHbEq0.

バックステッピング法に基づく4ロータ小型ヘリコプタの適応追従制御

This paper considers the problem of controlling both the position and the attitude of a four-rotor mini helicopter. The four-rotor mini helicopter is described by a set of nonlinear equations and some parameters of the dynamics are subjected to uncertainies. This paper presents a new adaptive tracking controller based on backstepping technique using both a virtual attitude control and an on-line parameter estimation. This controller can make the tracking errors of the position and the yaw angle of a helicopter converge to zero exponentially. A numerical simulation is performed to evaluate the effectiveness of the proposed controller.

D23 厳密な線形化手法に基づく4ロータ小型ヘリコプタの適応追従制御(M-OS15-1 適応学習制御とその応用I,M-OS15 適応学習制御とその応用,「海を越え,国を越え,世代を超えて!」)

D23 厳密な線形化手法に基づく4ロータ小型ヘリコプタの適応追従制御(M-OS15-1 適応学習制御とその応用I,M-OS15 適応学習制御とその応用,「海を越え,国を越え,世代を超えて!」)

MIMO Closed-Loop Subspace Model Identification and Hovering Control of a Coaxial Mini Helicopter with 3 DOFs

This paper reports the experimental results of the dynamic modelling using MIMO closed-loop system identification, controller design and implementation for hovering flight of a coaxial radio-controlled helicopter. The helicopter is set on our handcrafted supporting device, and it has the roll, side-to-side and up-and-down motions. The maneuvers are done by the aileron and the throttle. Hence, our system is with 2 inputs and 3 outputs. A dynamic model is derived for hovering flight conditions from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP). Then, LQR with a full state observer is designed and implemented.

Position and Yaw Angle Control for a Four Rotor Mini Helicopter Based on a Geometric Approach

In this paper, we present a position and yaw angle controller for a four-rotor mini helicopter, which is designed via the backstepping methodology. In order to avoid a singularity problem caused by using of Euler angles, only quaternion is employed to represent the attitude of the airframe. Although the use of quaternion makes it difficult to obtain a desired attitude in a step of the back-stepping procedure, a geometrical approach gives an effective solution for the problem. It is shown in some numerical simulations that the proposed controller can achieve global tracking to demanded position and yaw angle simultaneously.

112 4 ロータ小型ヘリコプターの適応安定化制御(OS2-2 制御工学と機械システムの接点2,OS2 制御工学と機械システムの接点)

112 4 ロータ小型ヘリコプターの適応安定化制御(OS2-2 制御工学と機械システムの接点2,OS2 制御工学と機械システムの接点)

MIMO Closed-Loop Subspace Model Identification and Model-Based Control of a Coaxial Mini Helicopter with 3 DOFs

MIMO Closed-Loop Subspace Model Identification and Model-Based Control of a Coaxial Mini Helicopter with 3 DOFs

I&I-Based Adaptive Control of a Four-Rotor Mini Helicopter with Uncertain Aerodynamic Parameters

Focusing on uncertain aerodynamic coefficients which characterize the thrust and torques, an adaptive controller for a four-rotor mini helicopter is designed based on Immersion and Invariance (I&I) approach. In order to deal with the complex multivariable parameter estimation, a relatively simple model parameterized with respect to a few unknown parameters is developed. For the estimation of those parameters, the I&I approach is employed and the design parameters of the resulting estimator are easy to adjust. With the estimates of the parameters, several tracking controllers are designed based on the backstepping methodology. Numerical simulation illustrates the robustness of the controller against the parametric uncertainties and external disturbances.

Vision Based Tracking for a Mini-Rotorcraft Using Vanishing Points

AbstractA vision based line tracking control strategy for a mini-rotorcraft is presented in this paper. The vision algorithm, employed to estimate the 3D position of the mini helicopter, is based on the vanishing points technique. Also, the dynamic model of this rotorcraft is presented in order to propose a nonlinear controller to navigate following a line. To validate the theoretical results, a real-time embedded control system has been developed. Experimental results have shown the good behavior of the proposed control vision scheme.

333 4ロータ小型ヘリコプタのI&I適応制御(一般車両以外の移動体の運動と制御,OS-16 運動と振動の制御,総合テーマ「伝統を,未来へ!」)

333 4ロータ小型ヘリコプタのI&I適応制御(一般車両以外の移動体の運動と制御,OS-16 運動と振動の制御,総合テーマ「伝統を,未来へ!」)

The Autonomous Mini Helicopter: A Powerful Platform for Mobile Mapping

The Autonomous Mini Helicopter: A Powerful Platform for Mobile Mapping