Deterministic Reconfiguration of Flight Control Systems for Multirotor UAV Package Delivery

Anthony Gong, R. Hess, M. Tischler
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引用次数: 3

Abstract

Multirotor UAS are prime candidates for autonomous package delivery due to their VTOL capability and payload carrying capacity. The effect of payloads on flight control system performance is investigated for three different inner-loop flight control system architectures, namely, explicit model following, nonlinear dynamic inversion, and incremental nonlinear dynamic inversion. Outer-loop flight control systems are wrapped around the various inner-loop architectures for waypoint tracking control. The flight control systems are designed and optimized using CONDUIT R to meet a common, comprehensive set of stability and performance specifications. Deterministic reconfiguration was designed for each inner-loop control architecture to account for the change in vehicle dynamics when a payload is added or removed. Robustness analyses are conducted considering both deterministic payload variations and modeling uncertainty. A notional package delivery mission scenario is simulated using a full-flight envelope stitched model with measurement noise and turbulence models identified from flight test data. The mission scenario is simulated for three different cases to evaluate the baseline performance, the degraded performance when a payload is added, and the recovery of performance with deterministic reconfiguration of the flight control systems.
多旋翼无人机包裹递送飞行控制系统的确定性重构
由于其垂直起降能力和有效载荷承载能力,多旋翼无人机是自主包裹递送的主要候选者。针对显式模型跟随、非线性动态反演和增量式非线性动态反演三种不同的内环飞控系统架构,研究了有效载荷对飞控系统性能的影响。外环飞行控制系统包裹在各种内环架构中用于航路点跟踪控制。使用CONDUIT R设计和优化飞行控制系统,以满足一套通用的、全面的稳定性和性能规格。每个内环控制体系结构都设计了确定性重构,以考虑载荷增加或减少时车辆动力学的变化。鲁棒性分析考虑了确定性载荷变化和建模不确定性。利用全飞行包络线缝合模型和从飞行试验数据中识别的测量噪声和湍流模型,模拟了一个设想的包裹递送任务场景。模拟了三种不同情况下的任务场景,以评估基准性能、增加有效载荷时的性能下降以及飞行控制系统确定性重构后的性能恢复。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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