1 / 16

UAVDevBoard – MatrixPilot

UAVDevBoard – MatrixPilot. Block diagrams 01-02-2012. MatrixPilot – Glossary. d e elevator deflection (>0 up) d r rudder deflection (>0 right) d a aileron deflection (>0 right). c CL c ourse leg bearing c SP bearing set point y SP yaw set point y yaw q pitch f roll

franklin-prince
Télécharger la présentation

UAVDevBoard – MatrixPilot

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. UAVDevBoard – MatrixPilot Blockdiagrams 01-02-2012

  2. MatrixPilot – Glossary deelevator deflection (>0 up) drrudder deflection (>0 right) daaileron deflection (>0 right) cCLcourse leg bearing cSPbearing set point ySPyaw set point yyaw qpitch froll qSPpitch setpoint z altitude zSPaltitude setpoint Th throttle command Thmmanual throttle command Emmanual elevator command Ammanual aileron command Rmmanual rudder command Vaairspeed Vgground speed Vwwind velocity VIMUspeed from IMU Scsteering command

  3. MatrixPilot – Parameters Tmax ALT_HOLD_THROTTLE_MAX Tmin ALT_HOLD_THROTTLE_MIN qmax ALT_HOLD_PITCH_MAX qmin ALT_HOLD_PITCH_MIN q0 ALT_HOLD_PITCH_HIGH qRTL RTL_PITCH_DOWN DH HEIGHT_MARGIN VSP DESIRED_SPEED PKP PITCHGAIN PKD PITCHKD KRUE RUDDER_ELEV_MIX KROE ROLL_ELEV_MIX KEBO ELEVATOR_BOOST YKPA YAWKP_AILERON RKPA ROLLKP RKDA ROLLKD YKDA YAWKD_AILERON KABO AILERON_BOOST YKPR YAWKR_RUDDER YKDR YAWKD_RUDDER RKPR ROLLKP_RUDDER KARU MANUAL_AILERON_RUDDER_MIX KRBO RUDDER_BOOST

  4. MatrixPilot – Coordinate Systems – Industry Standard Convention xb q y ye y xe f yb zb Earth fixed reference frame: (xe, ye, ze) Body-fixed reference frame: (xb, yb, zb) Euler angles yaw, pitch & roll: (y,q, f) ze f q

  5. MatrixPilot – Rotation rates – Industry Standard Convention xb (p, q, r) are the coordinates of the rotational vector W expressed in the body-fixed reference frame (xb, yb, zb) p q yb r zb

  6. MatrixPilot – Coordinate Systems – Warning This presentation uses the industry standard convention for aerospace coordinate systems. The plane coordinate system coincide with the Earth-fixed reference frame when the plane is located at the origin of the Earth-fixed reference frame, pointing North, with the plane level with respect to both pitch q and roll f. For historical reasons the plane and the earth coordinate systems used by the UAVDevBoard software differ slightly from the industry standard convention. Please refer to: http://code.google.com/p/gentlenav/wiki/UDBCoordinateSystems The relation between the Direct Cosine Matrix and the Euler angles is (standard convention):

  7. MatrixPilot – Altitude Control (full altitude hold or pitch only) speed control 0 DzV Thm VSP Va T Min() Tmax VIMU t  70ms Tmin Th -DH 0 DH Dz full altitude hold q Dz qmax zSP DH 0 -DH Dz z qmin q0 qSP

  8. MatrixPilot – Normal Pitch Control pitch stabilization 0 PKP de qSP sinq radio off& GPS steering 0 qRTL PKD cosq rudder input used & rudder output used & pitch feedback 0 dr KRUE cosq sinf pitch feedback 0 KROE (cosq sinf)2 radio ON & pitch feedback 0 KEBO Em

  9. MatrixPilot – Normal Pitch Control The Direct Cosine Matrix is used as much as possible: Pitch Pitch rate Roll

  10. MatrixPilot – Waypoints Normal Navigation waypoint (n+1) waypoint radius N cSP g finish line The bearing set point cSP is equal to the bearing between the plane and the next waypoint The finish line is perpendicular to the course leg course leg waypoint (n)

  11. MatrixPilot – Waypoints Cross Track Navigation waypoint (n+1) If the cross track error is greater than CTMARGIN the plane bearing set point cSP is limited to the course leg bearingcCL plus or minus 45° waypoint radius N cSP g finish line cross track error CTMARGIN If the cross track error is lower than CTMARGIN the deviation of the plane bearing set point cSP relatively to the course leg bearing cCL is proportional to the cross track error N cCL The finish line is perpendicular to the course leg course leg waypoint (n)

  12. MatrixPilot – Navigation – Yaw Set Point N a x w The yaw set point ySP is not strictly equal to the bearing set point cSP in order to take into account the crabbing of the airplane due to the wind ySP cSP g y

  13. MatrixPilot – Navigation – Yaw Angle Error The error between the yaw set point and the actual yaw is computed using the Direct Cosine Matrix N x 1 sin ySP ySP Dy sin y y 1 y cos y cos ySP

  14. MatrixPilot – Navigation – Steering Command The steering command is set to a constant value if the yaw error is greater than 90° or lower than -90° Sc cosq cosq sinDy Dy -180° -90° ySP Sc 180° Dy 0 90° y -cosq wind_gain The steering command is homogeneous to a bank angle

  15. MatrixPilot – Normal Roll Control aileron navigation & GPS steering 0 YKPA da Sc roll stabilization aileron & pitch feedback 0 RKPA cosq sinf roll stabilization aileron & pitch feedback 0 p RKDA yaw stabilization aileron & pitch feedback 0 YKDA r radio ON & pitch feedback 0 KABO Am

  16. MatrixPilot – Normal Yaw Control rudder navigation & GPS steering 0 YKPR dr Sc roll stabilization rudder & pitch feedback 0 RKPR cosq sinf yaw stabilization rudder & pitch feedback 0 r YKDR pitch feedback 0 KARU Am radio ON & pitch feedback 0 KRBO Rm

More Related