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COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Modelling, Simulation and Control of a Fixed-Wing Unmanned Aerial Vehicle (UAV)
Submission Author:
Willian Rigon Silva , RS
Co-Authors:
Willian Rigon Silva, Andre Luis da Silva, HILTON GRUNDLING
Presenter: Kátia Maier dos Santos
doi://10.26678/ABCM.COBEM2017.COB17-2703
Abstract
The work presents a methodology for mathematical modelling, simulation and control design for the longitudinal dynamics of a fixed-wing Unmanned Aerial Vehicle (UAV). The methodology used is well known in aeronautical literature for manned airplane design, so its adaptation to UAV was investigated. Due to the non-linear coupled dynamics present in this type of plant, some assumptions were made during the modelling and control design. Two models of the same UAV were obtained: One purely analytic (by stability and control derivatives given by USAF DATCOM), and the other by X-Plane Flight Simulator (which uses Blade Element Theory to calculate the flight model). The analytical model was linearized for a chosen equilibrium point (specific altitude and speed). The longitudinal flight dynamic modes were analysed: Short Period and Phugoid Mode. The chosen plant is the University of Toronto Explorer (UT-X) UAV, designed and built by the University of Toronto Aerospace Team (UTAT). The author was an active member of UTAT, while studying in the University of Toronto (UofT), participating in a scholarship program called Science Without Borders (SwB). Using classical automatic flight control theory, an Altitude and MACH HOLD Autopilot were designed. A Software In The Loop (SITL) simulation was developed, using MATLAB/SIMULINK communicating with X-Plane through UDP protocol. The SITL simulation setup was used to perform virtual flight tests, in order to assess the performance of the designed autopilots. Wind, Gust and Turbulence tests were also presented.
Keywords
Flight dynamics, Autopilot, Simulation, control, UAV
