Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: This thesis presents the development and implementation of a position based kinematic guidance
system, the derivation and testing of a Dynamic Pursuit Navigation algorithm and a
thorough analysis of an aircraft’s runway interactions, which is used to implement automated
take-off of a fixed wing UAV.
The analysis of the runway is focussed on the aircraft’s lateral modes. Undercarriage and
aerodynamic effects are first analysed individually, after which the combined system is analysed.
The various types of feedback control are investigated and the best solution suggested.
Supporting controllers are designed and combined to successfully implement autonomous
take-off, with acceleration based guidance.
A computationally efficient position based kinematic guidance architecture is designed
and implemented that allows a large percentage of the flight envelope to be utilised. An
airspeed controller that allows for aggressive flight is designed and implemented by applying
Feedback Linearisation techniques.
A Dynamic Pursuit Navigation algorithm is derived that allows following of a moving
ground based object at a constant distance (radius). This algorithm is implemented and verified
through non-linear simulation. / AFRIKAANSE OPSOMMING: Hierdie tesis handel oor die ontwikkeling en toepassing van posisie-afhanklike, kinematiese
leidings-algoritmes, die ontwikkeling van ’n Dinamiese Volgings-navigasie-algoritme en ’n
deeglike analise van die interaksie van ’n lugraam met ’n aanloopbaan sodat outonome opstygprosedure
van ’n vastevlerk vliegtuig bewerkstellig kan word.
Die bogenoemde analise het gefokus op die laterale modus van ’n vastevlerk vliegtuig en
is tweeledig behartig. Die eerste gedeelte het gefokus op die analise van die onderstel, terwyl
die lugraam en die aerodinamiese effekte in die tweede gedeelte ondersoek is. Verskillende
tipes terugvoerbeheer vir die outonome opstygprosedure is ondersoek om die mees geskikte
tegniek te bepaal. Addisionele beheerders, wat deur die versnellingsbeheer gebaseerde opstygprosedure
benodig word, is ontwerp.
’n Posisie gebaseerde kinematiese leidingsbeheerstruktuur om ’n groot persentasie van
die vlugvermoë te benut, is ontwikkel. Terugvoer linearisering is toegepas om ’n lugspoedbeheerder
, wat in staat is tot aggressiewe vlug, te ontwerp.
’n Dinamiese Volgingsnavigasie-algoritme wat in staat is om ’n bewegende grondvoorwerp
te volg, is ontwikkel. Hierdie algoritme is geïmplementeer en bevestig deur nie-lineêre
simulasie.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/4179 |
| Date | 03 1900 |
| Creators | De Hart, Ruan Dirk |
| Contributors | Peddle, I. K., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. |
| Publisher | Stellenbosch : University of Stellenbosch |
| Source Sets | South African National ETD Portal |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 136 p. : ill. |
| Rights | University of Stellenbosch |
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