An Autopilot Design for the Longitudinal Dynamics of a Low-Speed Experimental UAV Using Two-Time-Scale Cascade Decomposition
學年 98
學期 1
出版（發表）日期 2009-08-01
作品名稱 An Autopilot Design for the Longitudinal Dynamics of a Low-Speed Experimental UAV Using Two-Time-Scale Cascade Decomposition
作品名稱（其他語言）
著者 Shiau, Jaw-Kuen; Ma, Der-Ming
單位 淡江大學航空太空工程學系
出版者 Montreal: Canadian Society for Mechanical Engineering
著錄名稱、卷期、頁數 Transactions of the Canadian Society for Mechanical Engineering 33(3), pp.501-521
摘要 This paper discusses a cascade decomposition method for two-time-scale systems. We decompose the two-time-scale system into slow and fast subsystems connected in cascade form. With the proposed decomposition method, fast and slow low-order subsystems can be easily extracted from the two-time-scale full order system. The longitudinal dynamics of a low speed experimental UAV is used to illustrate the proposed method. An altitude hold control structure is constructed to allow sequential designs based on the lower order fast and slow models using classical designs. The structure contains two control loops. The inner loop is for altitude rate regulation. In this control loop, we use combination of altitude rate and pitch angle as the feedback signals. A fast controller is designed to satisfy the high frequency requirements using the fast model. Following the results of the fast design, three control gains are designed to satisfy the low frequency requirements using the slow models. The design results of the inner loop are used to design the outer altitude control loop. Frequency domain analysis and computer simulations confirm the success of the proposed decomposition method and verify the effectiveness of the control law using the proposed control structure.
關鍵字
語言 en
ISSN 0315-8977
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者 Shiau, Jaw-Kuen
審稿制度 是
國別 CAN
公開徵稿
出版型式 紙本
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