Development of an autonomous miniature helicopter: dynamics analysis, autopilot design and state estimation.

• Other Authors: Lau, Tak Kit.
• Format: Others
• Language: English; Chinese
• Published: 2009
• Subjects: Helicopters > Models; Helicopters > Aerodynamics; Helicopters > Control systems
• Online Access: http://library.cuhk.edu.hk/record=b5894129; http://repository.lib.cuhk.edu.hk/en/item/cuhk-326704

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