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Kumamoto University Repository System

Title Wind Estimation by Unmanned Air Vehicle with Delta

Wing

Author(s) Makoto, Kumon; Ikuro, Mizumoto; Zenta, Iwai;

Masanobu, Nagata

Citation Proceedings - IEEE International Conference on

Robotics and Automation: 1896-1901

Issue date 2006-01-10

Type Journal Article

URL http://hdl.handle.net/2298/15436

Right (c) 2005 IEEE. Personal use of this material is

permitted. Permission from IEEE must be obtained

for…

Proceedingsofthe2005IEEE1ntemationaIConferenceonRoboticsandAutomation

BaにeIona,Spain,ApriI2005

ＷｉｎｄＥｓｔｉｍａｔｉｏｎｂｙＵｎｍａｍｅｄＡｉｒVehicle

へwithDeltaWing

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AbsmzcトInthispapenanalgoIithmtoestimatewinddirectionbyusingasmaUandnghtUnmannedAirVehi・cIe(UKV）caUedKITEPLANEwasprOposeddmＴＥＰＬＡＮＥｈａｄａｂｉｇｍａｉｎｗｉｎｇｗｈｉｃｈｉｓａkite･likedeUtashapeand，therpfbre,itwaseasytobedisturbedbywindqHOweve喝this

disadvantageimpnesthattheKrmPLANEhasanabilitytosensewindandthatitisexpectedtousetheKITEPLANEasasensorfDrwindestimation･Inordertoachievethisfbature，dynamicsofUleKITEPLANEunderwinddisturbmcewere

derivedandanumericalestimationmethodwasproposed･DevicesequippedonboardwerealsodeveU叩eｄａｎｄｔｈeproposedmethodwasimplemented･ResmtsofaneXperimentshowedtheeffCctivenessoftheproposedmetho｡．〃｡‘ｒＺｂｍｏｓ－ＫＩＩＥＰＬＡＮＥ,UnmaImedAirVehicIe,Wind

disturbance,Estimation．

[10］［11］ａｎｄＳｈｉｍ［12］haveproposedcontrOlsystemsfbrnonhearandnomnnumumphasesystemssuchasautonomousUAVsbyapproximatelinearlizatiOnapproach・Al-mddabi[13]concentratedtolongitudinalmaneuverandprOposedanonUnearoutputtrackingmethod.ＩntelUgentapproachessuchasartiiicialneuralnetworks,fUzzylogiccontrollers［14]havebeenalsoutiUzedMontgomery[15］proposedaleamingmethodfbrafnzzy-neuralcontlollerbFemdndez-Montesinos［１０]utiUzedfUzzylogicfbrguid‐anceandcontrolwhenanairplanewaslandingunderwindsheamVa56dk［17］adoptedafUzzylogiccontroUerwhichwasfirstlyprOposedbyMamdani［18LSugeno[19]alsoprOposedafUzzycontrollerfbranautonomoushelicoptemVariousstructureofUWshavebeenalsostUdiedHen-

coptershavebeenstudiedWidely(e､9.[19],[15][10],[20]，[11]，［12］）mSpiteofitscomplexdynamicsbecauseitisabｌｅｔｏｈｏｖｅｒｏｒｓｔＯｐｍｔｈｅａｉｒＢＩｔｉｓａｌｓosignificantlyimportanttomakeUAVssmallandUght､Grasmeyer[21］developedaMicroAirVehicle(MAy)namedblackwidow

andWU［22］ｐｒＯｐｏｓｅｄａＭＡｙｗｈｏｓｅｗｍｇｓｐａｎｗａｓｓｍａllerthan4cmDeng［24］andSchenato［25］studiedsmallMAVsmspiredfrominsects､Microdevicesfbrsmall

UAysarealsoimportantandlyshvski[26］［27］studiedspecialcontrOlsurfacesfｂｒＭＡＶｓ

ｌｎｔｈｉｓｐａｐｅｌｂａｎＵＡＶｗｈｉｃｈｉｓｎｏｔｏｎｌｙｓｍａＵａｎｄｌｉｇｈｔｂｕｔａｌｓｏｈａｓｌargepayloadisconsidered・ＴｈｅＵＡＶｉｓｎａｍｅｄａｓＫＩＴＥＰＬＡＮＥ[281［29］becauseitsmain

wingwhichisthelargestcomponenthasakite-nkedeltａshape(Fig.1)Becausethemainwmgismadeofcloth,itislightandflexible､Therefbre,themainwmgcouldbelargewithoutmakingtheairplaneheavyasfOrrigidiixedwmgs､ThisimPlieSthatthemTEPLANEisabletobe

lightandtohavelalgepayloadsimultaneously60wmgtotheneXibiUtyofthewmg，theaiIplaneisrathersafeandrobustevenwhenitcrashedmtotheground・Thecenterofthemasslocatesunderthemainwmgandaileronsattachedwithdihedralangles,Thismakesattitudeinatrimstateratherstableandthemotioniswell-behavedTherefbre,theairplanemaybecontrolledonlybyusingslow-ratelow-costsensorssuchasGPSwithoutafUUattitudemeasurement・

Nagata[29]proposedatrajectolyfbUowmgcontroUerfbrtheKrrEPLANEbasedonaPmoutputfeedbackwithoutattitudemfbnnationandresultsofnumericalsimulations

showedtheeffectivenessofthemethodundertheabsence

１．INTRODUCTION

UmnannedAirVehicle(UAy)sarerequiledmorderfbrobservationandrescueactivitiesatdangerousareassuchasvolcanoes，areasstrickenbyearthquakes，firesandsoonFrompracticalvieWpoints,thoseUAVsareneededtOhaveenoughpayloadtocanyeqUipments,tｏｂｅａｂｌｅｔｏＤｙｆＯｒａｎenoughtime,tobesmaUandnghtandtobecarriedeasilytotheplacewheretheyarelaunchedortakenoffESpeciallybsincｅｉｔｉｓｎｅｃｅｓｓａｒｙｆｂｒＵＺＷｓｔｏＨｙａｔｌｏｗaltitudemordertoobserveterrain,UAVsarelikelytofaceadangertofallbecauseofirregUlarwindorobstacleaTherefbre，sophisticatedautopilotsystemsarenecessaryandUWsshomdbelesshazardouseveniftheycrashed、Automaticcontrolfbrairplaneshasalonghistoryand

thesemanyControltechniquesarealsoabletobeappnedfbrautonomousUAVs、SinCedynamicsofaiIplanesarenonlineancontrO11ersbasedonheartheoliesarenot

sufficientfbrtrimconditionswhicharedifferentfromthe

nominaltrimcondition､InordertoovercomethisdifficUltybitisconnnontoadoptrobustcontrolapprOaches，gamschedulingtechniqUesandsoon,Forexample,Ｋｈａｍｍａｓｈ[1]appUedH6oapproachtocontrolthelongitudinalpitchmotionunderumcertaintiesofmassandcenterofgravity6Chu［2]prOposedacontmllerbasedongainschedulingfbrairplaneswithmUltipleenginesbyusingthrottlesonly・Kaminer［3］［4］alsoproposedatrackingcontroUerbyutilizmggainscheduling、Shtessel［5］adoptedaslidingmodecontrOUertakingboundedinputsintoaccountHess[6］andAndrievslg/［7］ａｌｓｏconsideredboundedcontrO1

inputs、ＤｙｎａｍｉｃｓｏｆＵＡｙｓａｒｅｎｏｔｏｎｌｙｎｏｎｌｍｅarbutalsononmmnnumphase､Hauser[8],ＢＣＩⅣenutti[9],ＫＯＣ

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fnlllength,ｗｍｇｓｐａｎａｎｄｈｅｉｇｈｔａｒｅ２,280ｍｍ,2,780ｍｍ

and1,130mmrespectively､Weightisabout20kgPayloadofaKITＥＰＬＡＮＥｉｓｍｏｒｅｔｈａｎ６ｋｇ､Ｉｔｉｓａｂｌｅｔｏｔａｋｅｏｆｆ

ｆｒｏｍａｍｎｗａｙｏｒａHatTield，ｔｏｎｙｍｏｒｅｔｈａｎ３ｊＯＯＯｍ

ａｂｏｖｅｓｅａｌeｖｅｌａｎｄｔｏｌａｎｄｏｎｔｈｅｇround･Theahplane

hasfivewmgs，ｉ､aadelta-shapedmamwmg，acouple

ofailerons，anelevatorandarudde必Ｔｈｅｍａｉｎｗｍｇｉｓ

ｌｉｘｅｄｔｏ１ｈｅｂｏｄｙＳｅｒvomotorsareattachedtoailerons，theelevatorandtherudderascontrolsurfaceactuators・

Ｔｈｅｅｎｇｍｅｉｓｍｓｔａｌｌｅｄｉｎｔｈｅｃｅｎｔｅｒｏfthebodyandaservomotorcontrolsitsthrottle・

Anon-boardcomputersystemwhichｗｉｌｌｂｅｒｅｆｅｌｒｅｄａｓＣＰＵｉｓａＰＣ/１０４１BM-PCcompatibleembedded

PCunit(Advantech，ＰＣＭ-3370）ａｎｄｃｏｍｅｃｔｅｄｔｏＡ/Ｄ

unit(Advantech,PCM-3718HG),GPS(FurunoE1ectricCo.，

GN-79）andFPGAsystemforaservosignalge､era‐tor/receiverunit､SensorunitcomectedtoA/Dumtconsists

ofthreeaccelerometers(Crossbow,CXO2LF3),threegyro-

scopes(MurataManuftlcturingCq,ENVD5F-03),amagne‐

tometer(AP1System,ＡＭ－Ｚ１Ｍ)foranazimuthangleandtwomcnnation-meterOⅦidoriPrecisions,UVDOH)forroll

andpitchangles､A11servomotorsarecontroUedmanuallyviaradiocontrolmmanualmode,orautomaticallybyan

on-boardcomputersysteminautomode､AblockdiagramofthesystemiｓｓｈｏｗｎｍＦｉｇ･Ｚ．

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GPSreceⅣeｒ

ｒ

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FｉｇＬＫＩＴＥＰＬＡＮＥ

ofwmddisturbance

However,wmddisturbancesignilicantlydeterioratesthe

perfbnnanceofthepathfbuowingoflheKITEPLANEbecauｓｅｏｆｉｔｓｌａｒｇｅｍａｍｗｍｇＯｎｔｈｅcontrary〕this

impnesthattheKITEPLANEissｅｎｓｉｔｉｖｅｔｏｗｉｎｄａｎｄｉｔｉｓａｂｌｅｔｏｂｅl1tiliｧedtoobservewmddirection・Once

thewmdinfmmationisavailable,theperfbmlanceofthe

autopilotsystemwillbeabletobeimproved・Furthelmore，autonomouspathplanningtakingwiｎｄｉｎｔｏａｃｃｏｕｎｔｗｎｌａｌｓｏｂｅａｂｌｅｔｏｍａkeef6cientfligbt、mfbrmationabout

winditselfisalsorequiredbymanyapplicationssuchasaweatherfbrecast，estimatingthediffUsionofpollution，

preventingalireandsoonTherefbre,amethodtoestimatewind,especiallyitsdirectionwasconsideredmthispapeL

Tbthisend，dynamicsoftheKITEPLANEundeJFwmddismrbancewasderivednrst,andthenamethodtoestimate

parametersofwindwasproposedwhichwasthemamcoLtributionofthispaperForasmallUAVs,WUmodeledthe

dynamlcsasARXmodelandidentiliedthoseparameters

usingmeasuredresultsofHighttest[23］Themodelused

mthispaperwasanonnnearsystemandparameterswereestimatedon1inebysolvinganalgebraiceqUationusingmeasmeddata、

ｎｌｏｒｄｅｒｔｏｓｈｏｗthevalidityoftheproposedmethod，

resultsofexperimentswereshown・Forexperiments，asmanall-in-onecomputersystemwasdevelopedResultsshowedtheeffectivenessoftheproposedmethod、

ThispaperisorganizedasfbUows、Inthenextsec-

tion(ＳＣＣ.Ⅱ),theKITEPLANEandthecomputersystemare

shownanddynamicsofthesystemisderivedmthesection

m･Themethodtoestimatewindisproposedmthesection

wandresultsofexperimentsareshowninSeoV、Then，conclusionfbnows(SeQVI)．

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Fig.２，OverviewofKITEPLANESystem

ARILLinux[30]whichwasarealtimeoperatingsystｅｍ

ｂａｓｅｄｏｎＬｍｕｘｗａｓｕｓｅｄａｎｄｌｈｅｐｒｏｐosedsystemwas

implementedasarealtinletask・GPSmfbmlationwasavailableoncepcrasecondandothersensoryinfbmla-tionweresampledeach50mseQGmmonitonngsystem

whichinfOmlsoperatorsthestatoftheailPlane・TELNETprotocolwasusedfbrfOrkingtasksonCPUandFTPwasusedfortransferlingdataamongCPUandbasecomputers

astheywereusedinusualLAN

III・ＤＹＮＡＭＩｃｓｏＦＫＩＴＥＰＬＡＮＥ

ＴｈｏｕｇｈｔｈｅｃｏmpletedynamicsoftheKITEPLANEare

extensivelycomplex,asimplerigidbodymodelisusefUlwhｉｃｈｉｓｓｈｏｗｎｉｎthissection

Let‘Gbodyframe，,betheCartesiancoordinatesystemｗｈｉｃｈｉｓａｔｔａｃｈｅｄｔｏｔｈｅａｈｐｌａｎｅａｎｄwhoseorigmislocatedatthecenterofthegravity（Fig.３)。Ｘａｘｉｓｉｓ

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ａｌｉｇｎｅｄｔｏｔｈｅｆｒｏｎｔｏｆｔｈｅｂｏｄｙａｎｄＺaxisisalignedtodownwhentheairplanestaysontheground､Yaxisischosenasthebodyframebecomesright-handLet"mertialfiFame，，betheCartesiancoordinatesystemwhichiSfixedontheground､XaxisandYaxisoftheinertialframeare

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Thedynamics(1),(2),(3)and(4)areabletobesumma-rizedinageneralnonlinearfOnn：

ｚ＝ｆ(z)＋g(⑳,ｕ)＋ａｕｊＢ （５）

り＝ん(⑳)，

whereｚ＝[[胞陥,ＷB,ＥＢ,ＱＢ,ＲＢ,Ｘ'’昭,Ｚｒ,①,ｅ,I1T，yaremeasurableoutputssuchasthepoSition(Ｘｒ,Ｙｉ,Ｚｒ)．5⑪BrepresentswinddisturbanceswithrespecttothebodyfraIne・since``ｗｍｄｆｒａｍｅ，，iSolnittedintheabove

modenng,theeffectofattackofanglecausedbywindisalsoincludedin6zUB、

１Ｖ・WINDESTIMATION

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theairplaneasVbCandletUB,VbandWDrepresentelementsof吃cwithreSpecttothebodyfiFame､四B,QBandRBrepresentangUlarvelocitieswitllrespecttothebodyframe､既B,ＰＰＢ,助B，ＬＢ,MDandlVEdenoteaerodynamicfblcesandmoments可DeIineZ-Y-XEuler

anglefromtheinertialframetothebodyfTameas⑩,ｅ,⑫anddenoteatransfOrmationmatrixfiomthemertialframe

tothebodyframeasTBI(の,ｅ,⑩)orTBIinshort・ItiseasytoshowthatthereexistsaninverseofTBI，wliich

willbedenotedasTIB,asfarase≠±:､ＤｅｎｏｔｅｍａｎｄＩａｓｍａｓｓｏｆｔｈｅａｉｌｐｌａｎｅandaninertiamatrix

respectively､ThepositionofthecenterofthegravityisdenotedbyXr,Z,ZIwithrespecttotheinertialframe、

Let入Ｂ＝[ＤＢ,Vb,Ｗ､]TandEB＝[ら,ＯＢ,ＲＢ]T・AssumethewindeffectcanbemodeleｄａｓｆｂｒＣｅＳａｎｄ

ｍｏｍｅｎｔｓａｄｄｅｄｔｏｔｈｅｓｙｓｔｅｍＤｅｎｏｔｅｔｈｅｍａｓ８ＬｄＦＢｏｒ６ＬｕＲＢrespectively1Then，byusingabovenotations，dynamicsoftheKnEPLANEcanbegivenasfOUows：

、呈入Ｂ+蛇⑭入圏=T･,[M川１，（１）＋[FxB,FlrB,町B]Ｔ＋6町Ｂ

Ⅱ暴息．+盲｡⑭疋圏-[L戯MajVb]切十`畑(2)基[x血,Ｍ]ＬＴ埴入。（３）

釜[;Ｈ亀s墓+鮒whereq,，勘，Ｃｅ，Ｓｅ，andgrepresentcosU，sinUl，cose，smeandagravitationalacceleration．⑭denotes

outerproduct､SmceaerodynamicfOrcesandmomentsaremainlycausedbywings,ＦＸＢ,町Ｂ,町B,ＬＢ,MBandNBarenotonlyfimctionsofthestateoftheairPlanebut

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fly-by-throttleflightcontrolusingneuralnetworksj，ｉｎＰ”c・ｑＭｅＩＥＥＥＣｍｆｏ"此ｃＣｂｍｍＪ,1996,ｐｐ､1557-1562．

[3］IKamineliAM・Pascoal,EEKhaIgonekanandEEColeman，‘iAvelOcityalgorithmfbrtheimplementatioilofgam-scheduledcontroUersj,Ａ"mmcz"Ｃａ,vol､３１，，０．８，ｐｐ､1185-1191,1995．

[4］LKamine喝Ａ・Pascoal,Ｒ､HaUbeIg,andCSnvestre,“Tmjectorytrackingfbralltonomouｓｖｅｈicles:AnintegatedapproachtogUid-anceandcontrolJ，Ｊｑ/Ｇｕ４比"ｃｅＣｂ"'ｍＬｑ"ｄＤｙｍ加妬s,ｖｏＬ２１，ｎｏ､１，ｐｐ､2938,Jan､1998．

[5］YShtesse1,Ｊ､Buflington,ａｎｄＳ・Banda,``Multipletimescaleflightcontmlusingre-configurablesndingmodesi，，ｍＰｍｃ.q′IEEEＣＤがｏ〃ＤＢＣ・Ｃｂ"ＦＭ,1998,ｐｐ､4196-4201．

[6］Ｒ・ＡHess,“FeedbacksystemdesignfbrstablePlantswithinputsaturation；'八ｑｆＧ"伽"ｃａＣｂ"ＦＭＩα"。、)mcmiCs,vol､１８，，０．５，pplO29-1035,1995．

[7］Ｂ､RAndrievslq'ａｎｄＡ.Ｌ､Fradkovb“UavguidancesystemWithcombinedadaptiveautOpUotj，ｉｎＰ"、ｑ/ZheLASZED肋ＬＣｍｆ肋彪ﾉﾑ珈叺cuMCb"”,2003,ｐｐ９１－９３．

［8］Ｊ・HauｓｅｎＳ・SastIybandG・Meyel；“Nonlinearcontroldesi印fbrsnghtlynommmmumphasesystems:ApplicationtoV/STOLaircmfr，Ａ"mmqtica,ｖｏＬ２８,ｎｏ､４，ｐｐ､665-679,1992．

[9］Ｌ・Benvenuti，PLDGiamberardino，ａｎｄＬ､Fmina,`najectorytrackingfbrapvtolairCraft:acomparativeanalysis；，ｉｎＰ”c･ｑｆ伽IEEEＣｍｆｏ"ＤＢＣ.Ｃ、'わ！,1996,ｐｐ､1563-1568．

[10］ⅢＪ・ＫｏｏａｎｄＳ・Sastry，“OutputtrackingcontroldesignofahelicOptermodelbasedonapproximatielinemization；，ｉｎＰ”c､ｑプルＩＥＥＥＣｍｆｏ〃ＤｅｃＣｂ"'わ！,1998,ｐｐ､3635-3640．

[11］ｍＪＫｏＯａｎｄＳ、SastrybqDifferentialHamessbasedfUUauthorityhencOptercontroldesignj，ｉｎＰ"c､ｑｆ伽ＩＥＥＥＣｍｆｏ〃DecCbJzr"Ｊ,1999,ｐｐ､1982-1987．

[12］Ｈ､Ｓｈｉｍ,ＴＫｏｏ,EHoffinann,andS､Sastry,`iAcomprehensivesmdy

directionsincethisdisadvantagecouldbeinterpretedastheKrrEPLANEwassensitivetowind、FOrthewind

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ACKNOWLEDGMENT

AuthorswouldliketothanktoS1q/remotelnc･fOrtheirsuperbhelptoimplementthesystemandtomaketestUights・AuthorsarealsoappreciatedtoFUrunoE1ecUicCo、

fbrtheirsupport．

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ＷＷＮＭＥ肥ＳＷ

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Fig.７．WindEstimation

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adaptivefUzzycontrolofaircraftsj,，inＰ"c､ｑ/20011EEE〃LFt4zzy恥LCbmf,2001,ｐｐ､761-764.．

[18］ⅢＪ､PrOpcykandEHMamdam,`qA1inguisitcselforgamzmgpmcesscontrollerf，Ａｍｍｍａ"Ｃａ,ｖｏＬ１５,ｐｐ､15-30,1979．

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