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Development of an autonomous miniature helicopter: dynamics analysis, autopilot design and state estimation. / 開發自動控制模型直昇機: 動力分析、無人駕駛控制器設計及狀態估算 / Kai fa zi dong kong zhi mo xing zhi sheng ji: dong li fen xi, wu ren jia shi kong zhi qi she ji ji zhuang tai gu suan

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

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326704
Date January 2009
ContributorsLau, Tak Kit., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering.
Source SetsThe Chinese University of Hong Kong
LanguageEnglish, Chinese
Detected LanguageEnglish
TypeText, bibliography
Formatprint, 176 leaves : ill. (some col.) ; 30 cm.
RightsUse 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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