Pengembangan Kenderaan Udara Tanpa Alur Hibrid-Menegak yang berasaskan model (H-UAV) yang berasaskan model dicadangkan dalam karya ini. H-UAV mempunyai keupayaan untuk menangkis dan mendatar dan pendaratan menegak (VTOL) dalam ruang terhad. Di samping itu, ia boleh menukar mod penerbangannya dari mod melayang ke mod pelayaran sayap tetap. Perkembangan H-UAV merangkumi tiga fasa reka bentuk - fasa pemodelan, fasa reka bentuk pengawal, dan fasa ujian. Dalam fasa pemodelan, model matematik H-UAV dalam mod VTOL dibangunkan dan dibina dalam persekitaran SIMULINK®. Seterusnya, pengawal PID direka dalam fasa reka bentuk pengawal dengan beberapa pertimbangan (linearization sistem, penapisan bunyi dan penala pengawal) untuk mengoptimumkan prestasi sistem. Penapis percuma, penapis percuma diubahsuai, dan penapis Kalman digunakan dalam penapisan hingar. Prestasi setiap penapis dibandingkan dari segi keupayaan mereka untuk mengalih keluar bunyi getaran linear dengan penjejakan trend dinamik dan dilihat bahawa penapis Kalman menunjukkan hasil terbaik. Selanjutnya, fungsi terbina dalam SIMULINK® iaitu "PID tune" dan kaedah penalaan Ziegler Nichols digunakan dalam penalaan pengawal. Sebagai perbandingan, kaedah Ziegler Nichols menghasilkan sambutan sistem yang lebih disukai dengan kurang peratusan pelarasan. Akhir sekali dalam fasa ujian, tindak balas model sebenar dari H-UAV dalam kawalan kedudukan dibandingkan dengan tindak balas simulasi dan menunjukkan bahawa tindak balas model sebenar mempunyai sedikit penangguhan dari segi kenaikan masa dan masa penyelesaian, dan 2% daripada overshoot lebih tinggi daripada simulasi tindak balas. Sementara itu, penggunaan semasa antara H-UAV dan quadcopter biasa telah dibandingkan dan hasilnya menunjukkan purata penggunaan semasa adalah 31.8% lebih cekap daripada yang terakhir. Secara ringkas, reka bentuk yang dicadangkan H-UAV terbukti mempunyai kelebihan gabungan quadcopter biasa dan UAV sayap tetap yang mampu melaksanakan VTOL dan tenaga yang cekap dalam jelajah pengawasan.
_______________________________________________________________________________________________________
The development of a model-based Hybrid-Vertical Takeoff Unmanned Aerial Vehicle (H-UAV) is proposed in this paper. H-UAV has the capability to hover and vertical take-off and landing (VTOL) within restricted space. In addition, it can switch its flight mode from hovering mode to fixed-wing cruising mode. The development of H-UAV includes three design phases – modelling phase, controller design phase, and testing phase. In modeling phase, the mathematical model of H-UAV in VTOL mode is developed and is built in SIMULINK® environment. Next, PID controller is designed in the controller design phase with a few considerations (system linearization, noise filtering and controller tuning) in order to optimize the system’s performance. Complimentary filter, modified complimentary filter, and Kalman filter are used in noise filtering. The performance of each filter is compared in terms of their capability to remove linear vibration noise with well dynamic-trend tracking and it is observed that Kalman filter shows the best result. Subsequently, SIMULINK® built-in function namely “PID tune” and Ziegler Nichols tuning method are used in controller tuning. In comparison, Ziegler Nichols method yields a more preferable system’s response with less percentage of overshoot. Finally in testing phase, the real model’s response from H-UAV in positioning control is compared with the simulation response and it shows that the real model’s response possess slightly delayed in terms of rise time and settling time, and 2% of overshoot higher than simulation response. Meanwhile, the current consumption between H-UAV and typical quadcopter are compared and results show the average current consumption of the former is 31.8% more efficient than the latter. In summary, the proposed design of H-UAV is proved to have the combined advantages of typical quadcopter and fixed-wing UAV which is able to perform VTOL and energy efficient in surveillance cruising.
Controller design for a model-based hybrid unmanned aerial vehicle / How Yong Guan