International Journal of Micro Air Vehicles最新文献_第6页

Vortex flow aerodynamics behind a symmetric airfoil at low angles of attack and Reynolds numbers 对称翼型在低攻角和雷诺数下的涡流空气动力学

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2021-01-01 DOI: 10.1177/17568293211055653

D. Kurtulus

引用次数: 4

Project of high altitude balloon launched micro glider: Aircraft design, control and flight test 高空气球发射微型滑翔机项目:飞行器设计、控制和飞行试验

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-12-01 DOI: 10.1177/1756829320979955

Zhengyu Qu, Cuichun Li, Yong Hao, Feng Yan, Yanchu Yang

{"title":"Project of high altitude balloon launched micro glider: Aircraft design, control and flight test","authors":"Zhengyu Qu, Cuichun Li, Yong Hao, Feng Yan, Yanchu Yang","doi":"10.1177/1756829320979955","DOIUrl":"https://doi.org/10.1177/1756829320979955","url":null,"abstract":"This paper presents the design details and flight tests validation of printed circuit board fabricated micro gliders. The purpose of the micro glider is to be launched from a super pressure balloon at high altitude, glide to the target position to collect data and upload data to the staying balloon. The mission demand requires the micro glider to finish precise landing with small size and low fabrication cost. To complete this concept, we designed a PCB fabricated aircraft with limited sensors including GPS and IMU. The first part of the article describes the aerodynamic design methods. The second part introduced the control and guidance system design by controlling the roll angle and flight path angle to complete the precise landing. In the simulation results presented in the third part, launch with no wind condition shows desirable precise landing ability. As a contrast, wind direction and magnitude have significant effects on the guidance ability and accuracy. In the last part, two real flight tests conducted in Inner Mongolia of China are described to compare the flight performance with the current aerodynamics and control system design. Returned data indicated the micro gliders could successfully fly at high altitude. The control algorithm can compute the command roll angle only with GPS and IMU, but some design details still need to be improved to achieve precise landing ability.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320979955","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43379522","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Numerical simulation of flapping airfoil with alula 带alula的扑翼型数值模拟

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-11-01 DOI: 10.1177/1756829320977989

Han Bao, Wenqing Yang, D. Ma, Wenping Song, Bifeng Song

{"title":"Numerical simulation of flapping airfoil with alula","authors":"Han Bao, Wenqing Yang, D. Ma, Wenping Song, Bifeng Song","doi":"10.1177/1756829320977989","DOIUrl":"https://doi.org/10.1177/1756829320977989","url":null,"abstract":"Bionic micro aerial vehicles have become popular because of their high thrust efficiency and deceptive appearances. Leading edge or trailing edge devices (such as slots or flaps) are often used to improve the flight performance. Birds in nature also have leading-edge devices, known as the alula that can improve their flight performance at large angles of attack. In the present study, the aerodynamic performance of a flapping airfoil with alula is numerically simulated to illustrate the effects of different alula geometric parameters. Different alula relative angles of attack β (the angle between the chord line of the alula and that of the main airfoil) and vertical distances h between the alula and the main airfoil are simulated at pre-stall and post-stall conditions. Results show that at pre-stall condition, the lift increases with the relative angle of attack and the vertical distance, but the aerodynamic performance is degraded in the presence of alula compared with no alula, whereas at post-stall condition, the alula greatly enhances the lift. However, there seems to be an optimal relative angle of attack for the maximum lift enhancement at a fixed vertical distance considering the unsteady effect, which may indicate birds can adjust the alula twisting at different spanwise positions to achieve the best flight performance. Different alula geometric parameters may affect the aerodynamic force by modifying the pressure distribution along the airfoil. The results are instructive for design of flapping-wing bionic unmanned air vehicles.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320977989","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48963581","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles 多架四旋翼无人机编队飞行的扇形模糊共识算法

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-11-01 DOI: 10.1177/1756829320973579

E. J. Ollervides-Vazquez, E. G. Rojo-Rodriguez, O. Garcia-Salazar, L. Amezquita-Brooks, P. Castillo, V. Santibáñez

{"title":"A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles","authors":"E. J. Ollervides-Vazquez, E. G. Rojo-Rodriguez, O. Garcia-Salazar, L. Amezquita-Brooks, P. Castillo, V. Santibáñez","doi":"10.1177/1756829320973579","DOIUrl":"https://doi.org/10.1177/1756829320973579","url":null,"abstract":"This paper presents an algorithm based on fuzzy theory for the formation flight of the multi-quadrotors. For this purpose, the mathematical model of N-quadrotor unmanned aerial vehicles is presented using the Newton-Euler formulation. The strategy of the formation flight is based on a structure composed by a sectorial fuzzy controller and the linear systems whose state variables are the position and velocity of the ith quadrotor. The stability analysis is described as a generalized form for N-quadrotor unmanned aerial vehicles and it is based on the Lyapunov theory. This analysis demonstrates that the closed-loop system is globally asymptotically stable so that the quadrotors unmanned aerial vehicles reach the consensus. Numerical simulation demonstrates the robustness of the proposed scheme for the formation flight even in the presence of disturbances. Finally, experimental results show the feasibility of the proposed algorithm for the formation flight of multiple unmanned aerial vehicles.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320973579","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48728302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Active disturbance rejection attitude control for the dove flapping wing micro air vehicle in intermittent flapping and gliding flight 鸽子扑翼微型飞行器间歇扑翼滑翔飞行的自抗扰姿态控制

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-08-01 DOI: 10.1177/1756829320943085

Shaoran Liang, Bifeng Song, J. Xuan, Yubin Li

{"title":"Active disturbance rejection attitude control for the dove flapping wing micro air vehicle in intermittent flapping and gliding flight","authors":"Shaoran Liang, Bifeng Song, J. Xuan, Yubin Li","doi":"10.1177/1756829320943085","DOIUrl":"https://doi.org/10.1177/1756829320943085","url":null,"abstract":"This paper proposes an attitude control scheme for the Dove flapping wing micro air vehicle in intermittent flapping and gliding flight. The Dove flapping wing micro air vehicle adopts intermittent flapping and gliding flight to make the wing movements more natural; this strategy also has the potential to reduce energy consumption. To implement this specific flight mode, this paper proposes a closed-loop active disturbance rejection control strategy to stabilize the attitude during the processes of flapping flight, transition and gliding flight. The active disturbance rejection control controller is composed of three parts: a tracking differentiator, a linear extended state observer and a nonlinear state error feedback controller. The tracking differentiator estimates the given target signal and the differential signal in real time. The extended state observer estimates the system states and system nonlinearity. Moreover, the bandwidth parameterization method is applied to determine the observer gains. The stability of the closed-loop system is verified using Lyapunov’s theorem. Several outdoor flight experiments have been conducted to verify the effectiveness of the proposed control method, and the results show that the proposed method can guarantee the stability of intermittent flapping and gliding flight.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320943085","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48946703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Unmanned aerial vehicle control costs mirror bird behaviour when soaring close to buildings 无人驾驶飞行器的控制成本反映了鸟类在接近建筑物时的行为

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-08-01 DOI: 10.1177/1756829320941005

Ana Guerra-Langan, S. Araujo-Estrada, S. Windsor

{"title":"Unmanned aerial vehicle control costs mirror bird behaviour when soaring close to buildings","authors":"Ana Guerra-Langan, S. Araujo-Estrada, S. Windsor","doi":"10.1177/1756829320941005","DOIUrl":"https://doi.org/10.1177/1756829320941005","url":null,"abstract":"Small unmanned aerial vehicles (SUAVs) are suitable for many low-altitude operations in urban environments due to their manoeuvrability; however, their flight performance is limited by their on-board energy storage and their ability to cope with high levels of turbulence. Birds exploit the atmospheric boundary layer in urban environments, reducing their energetic flight costs by using orographic lift generated by buildings. This behaviour could be mimicked by fixed-wing SUAVs to overcome their energy limitations if flight control can be maintained in the increased turbulence present in these conditions. Here, the control effort required and energetic benefits for a SUAV flying parallel to buildings whilst using orographic lift was investigated. A flight dynamics and control model was developed for a powered SUAV and used to simulate flight control performance in different turbulent wind conditions. It was found that the control effort required decreased with increasing altitude and that the mean throttle required increased with greater radial distance to the buildings. However, the simulations showed that flying close to the buildings in strong wind speeds increased the risk of collision. Overall, the results suggested that a strategy of flying directly over the front corner of the buildings appears to minimise the control effort required for a given level of orographic lift, a strategy that mirrors the behaviour of gulls in high wind speeds.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320941005","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46588975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances 无人机四旋翼飞行器在集中扰动下的最优姿态跟踪控制

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-06-01 DOI: 10.1177/1756829320923563

L. Ding, Yangmin Li

{"title":"Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances","authors":"L. Ding, Yangmin Li","doi":"10.1177/1756829320923563","DOIUrl":"https://doi.org/10.1177/1756829320923563","url":null,"abstract":"The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on linear extended state observer is proposed for attitude tracking control of a quadrotor under lumped disturbances. The proposed control method requires no prior knowledge of the attitude dynamics. It can ensure rapid convergence rate and high tracking precision due to terminal sliding mode surface and fast reaching law. The controller uses the linear extended state observer to reject the influence of both parametric uncertainties and external disturbances. Meanwhile, the nonsingular fast terminal sliding mode control strategy is designed to ensure the state variables to slide to desired points in finite time. To enhance the control performance, a self-adaptive fruit fly optimization algorithm is applied to parameters tuning of the proposed controller. The effectiveness of the proposed control approach is illustrated through numerical simulations and experimental verification.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320923563","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49569750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Editorial 编辑

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-06-01 DOI: 10.1177/1756829320927593

P. Campoy, P. de la Puente, Adrian Carrio

引用次数: 0

Detection of nearby UAVs using a multi-microphone array on board a UAV 使用无人机上的多麦克风阵列探测附近的无人机

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-05-01 DOI: 10.1177/1756829320925748

A. Cabrera-Ponce, J. Martínez-Carranza, C. Rascón

{"title":"Detection of nearby UAVs using a multi-microphone array on board a UAV","authors":"A. Cabrera-Ponce, J. Martínez-Carranza, C. Rascón","doi":"10.1177/1756829320925748","DOIUrl":"https://doi.org/10.1177/1756829320925748","url":null,"abstract":"In this work, we address the problem of UAV detection flying nearby another UAV. Usually, computer vision could be used to face this problem by placing cameras onboard the patrolling UAV. However, visual processing is prone to false positives, sensible to light conditions and potentially slow if the image resolution is high. Thus, we propose to carry out the detection by using an array of microphones mounted with a special array onboard the patrolling UAV. To achieve our goal, we convert audio signals into spectrograms and used them in combination with a CNN architecture that has been trained to learn when a UAV is flying nearby, and when it is not. Clearly, the first challenge is the presence of ego-noise derived from the patrolling UAV itself through its propellers and motor’s noise. Our proposed CNN is based on Google’s Inception v.3 network. The Inception model is trained with a dataset created by us, which includes examples of when an intruder UAV flies nearby and when it does not. We conducted experiments for off-line and on-line detection. For the latter, we manage to generate spectrograms from the audio stream and process it with the Nvidia Jetson TX2 mounted onboard the patrolling UAV.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320925748","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42580967","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Forward flight tests of a quadcopter unmanned aerial vehicle with various spherical body diameters 四轴飞行器不同球体直径的前飞试验

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-05-01 DOI: 10.1177/1756829320923565

B. Theys, J. De Schutter

引用次数: 12