UAV Velocity controller Design and Implementation

• Main Authors: Sheng-Yen Hsieh, 謝晟彥
• Other Authors: Hsiao, F.B.
• Format: Others
• Language: en_US
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/51663189536952816682

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 94 === The goal of this thesis is to design a velocity controller based on current autopilot architecture in RMRL to eliminate the effect of airplane phugoid motion during autonomous flight, and hold velocity and altitude to improve the autopilot control efficiency. A series of experiments were made to obtain the thrust and rpm in different free-stream velocity and throttle conditions. The experiment data was analyzed to make a nonlinear model with the engine time delay. Besides, system parameters identification methods were performed to obtain the engine linear model to design the PID controller. The control architecture is composed of inner loop control and outer loop control. The inner loop controls engine rpm via throttle. The outer loop is a velocity control loop, which converts the velocity information to a desired rpm, then feed the desired rpm into the inner loop to control the engine rpm. After a series of flight test validation, this velocity controller is approved and can eliminate the phugoid motion of the airplane thus improve flight efficiency.