Lau, Tak Kit. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2009. / Includes bibliographical references (leaves 168-176). / Abstract also in Chinese. / Chapter 1 --- Introduction --- p.18 / Chapter 1.1 --- Motivation and Problem Statement --- p.18 / Chapter 1.2 --- Literature Review --- p.19 / Chapter 1.2.1 --- Avionics Design --- p.19 / Chapter 1.2.2 --- Controller Design --- p.21 / Chapter 1.2.3 --- Dynamics Analysis --- p.23 / Chapter 1.2.4 --- State Estimation for GNSS Outage --- p.24 / Chapter 1.3 --- Outline --- p.25 / Chapter 2 --- Actuation Dynamics --- p.26 / Chapter 2.1 --- Mcchanism Of The Rotor --- p.27 / Chapter 2.2 --- Mcchanism Of Swashplate And Rotor --- p.28 / Chapter 2.3 --- Numerical Analysis Of Cyclic Pitch Angle --- p.31 / Chapter 2.4 --- Helicopter Dynamics --- p.33 / Chapter 2.4.1 --- Aerodynamic Forces And Moments --- p.35 / Chapter 2.4.2 --- Aerodynamic Drag --- p.36 / Chapter 2.4.3 --- Incremental Lift --- p.36 / Chapter 2.4.4 --- Tail Rotor Thrust And Moment --- p.36 / Chapter 2.4.5 --- Deadweight And Moment --- p.37 / Chapter 2.5 --- The Conventional Inadequacy Of Adding A 90° Phase-Lag --- p.38 / Chapter 2.6 --- The Gyroscopic Effect In Helicopter Dynamics --- p.39 / Chapter 2.6.1 --- How Precession Works --- p.43 / Chapter 2.6.2 --- The Analytical Form --- p.45 / Chapter 2.6.3 --- Numerical Analysis Of The Gyroscopic Effect --- p.48 / Chapter 3 --- State Estimation For GNSS Outage --- p.52 / Chapter 3.1 --- GNSS Error And UAV Failure --- p.52 / Chapter 3.2 --- "Kalman Filter, And The Extended Kalman Filter" --- p.53 / Chapter 3.3 --- Unscented Kalman Filter --- p.54 / Chapter 3.4 --- Process And Measurement Model --- p.55 / Chapter 3.4.1 --- The IMU Driven Model And Sensor Error --- p.57 / Chapter 3.5 --- Modifications To The Model And UKF Algorithm --- p.62 / Chapter 3.5.1 --- Acceleration White Noise Bias (AWNB) --- p.62 / Chapter 3.5.2 --- Acceleration Scale (AS) --- p.64 / Chapter 3.5.3 --- Prioritized Propagation Of States (PPS) --- p.64 / Chapter 3.5.4 --- Performance Of The Proposed Enhancements --- p.66 / Chapter 3.5.5 --- Tripled Percentage Reduction Of Position RMSE When Using PPS With AWNB --- p.73 / Chapter 4 --- Autopilot For Attitude Stabilization --- p.84 / Chapter 4.1 --- Oil Test Bondi --- p.85 / Chapter 4.2 --- On Unconstrained Flight --- p.88 / Chapter 4.2.1 --- Tracking Reference Problem --- p.88 / Chapter 4.2.2 --- An Alternative To PID Attitude Control --- p.91 / Chapter 4.2.3 --- The Proposed Hierarchical PD Controller --- p.91 / Chapter 4.2.4 --- Stability Analysis --- p.92 / Chapter 4.2.5 --- Hierarchy Of The Varying Tracking Reference --- p.95 / Chapter 4.2.6 --- Asymptotical Stability And Robustness --- p.99 / Chapter 4.2.7 --- Experiment and Performance Of The Proposed Controller --- p.101 / Chapter 5 --- Avionics And Test Bench Design --- p.105 / Chapter 5.1 --- Avionics Design --- p.105 / Chapter 5.1.1 --- Design Essentials --- p.107 / Chapter 5.1.2 --- Synchronization Of Commands --- p.107 / Chapter 5.1.3 --- Normalization Of Servomechanism Commands --- p.110 / Chapter 5.2 --- Test Bench Design --- p.110 / Chapter 5.2.1 --- The Idea --- p.111 / Chapter 5.2.2 --- Concern --- p.111 / Chapter 5.2.3 --- Test Bench Design Options --- p.112 / Chapter 5.2.4 --- Building The Test Bench --- p.113 / Chapter 5.2.5 --- Disturbance In IMU Data --- p.113 / Chapter 5.2.6 --- The Solution To IMU Saturation --- p.115 / Chapter 6 --- Conclusion --- p.118 / Chapter 6.1 --- Actuation Dynamics --- p.118 / Chapter 6.2 --- State Estimation for GNSS Outage --- p.119 / Chapter 6.3 --- Hierarchical PD Controller --- p.121 / Chapter A --- Appendix - Derivation From Recursive Least Square Estimation To Kalman Filter --- p.122 / Chapter A.1 --- Recursive Least Square --- p.122 / Chapter A.1.1 --- Alternate Estimator form for RLS --- p.134 / Chapter A.1.2 --- Propagation of States and Covariance --- p.137 / Chapter A.1.3 --- Kalman Filter --- p.139 / Chapter B --- Appendix - Actuation by Gyroscopic Effect --- p.144 / Chapter B.1 --- Expression of The Induced Moment Due to Gyroscopic Effect In The Total External Moment --- p.150 / Chapter B.2 --- An Illustrated Example --- p.153 / Chapter B.3 --- Another Derivation By Using A Different Orientation Definition --- p.156 / Chapter B.4 --- Dimensions of the helicopter for experiments --- p.166 / Bibliography --- p.167
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326704 |
| Date | January 2009 |
| Contributors | Lau, Tak Kit., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, 176 leaves : ill. (some col.) ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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