WO2004108524A3 - System and method for controlling model aircraft - Google Patents

System and method for controlling model aircraft Download PDF

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Publication number
WO2004108524A3
WO2004108524A3 PCT/US2004/012812 US2004012812W WO2004108524A3 WO 2004108524 A3 WO2004108524 A3 WO 2004108524A3 US 2004012812 W US2004012812 W US 2004012812W WO 2004108524 A3 WO2004108524 A3 WO 2004108524A3
Authority
WO
WIPO (PCT)
Prior art keywords
attitude
commanded
actuator
input
rate
Prior art date
Application number
PCT/US2004/012812
Other languages
French (fr)
Other versions
WO2004108524A2 (en
Inventor
Michael J Fouche
Original Assignee
Neural Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US10/449,372 external-priority patent/US6751529B1/en
Application filed by Neural Robotics Inc filed Critical Neural Robotics Inc
Priority to EP04750655A priority Critical patent/EP1642181A4/en
Publication of WO2004108524A2 publication Critical patent/WO2004108524A2/en
Publication of WO2004108524A3 publication Critical patent/WO2004108524A3/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Landscapes

  • Engineering & Computer Science (AREA)
  • Artificial Intelligence (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Evolutionary Computation (AREA)
  • Algebra (AREA)
  • Mathematical Optimization (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mathematical Analysis (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Feedback Control In General (AREA)

Abstract

In one embodiment, a method for controlling an aircraft (10) comprises providing an attitude error (214) as a first input into a neural controller (202) and an attitude rate (216) as a second input into the neural controller (202). The attitude error (214) is calculated from a commanded attitude (218) and a current measured attitude (220), and the attitude rate (216) is derived from the current measured attitude (220). The method also comprises processing the first input (214) and the second input (216) to generate a commanded servo actuator rate (222) as an output of the neural controller (202). The method further comprises generating a commanded actuator position (226) from the commanded servo actuator rate (222) and a current servo position (224), and inputting the commanded actuator position (226) to a servo motor (204) configured to drive an attitude actuator (206) to the commanded actuator position (226). The neural controller (202) is developed from a neural network, wherein the neural network is designed without using conventional control laws, and the neural network is trained to eliminate the attitude error (214).
PCT/US2004/012812 2003-05-30 2004-04-23 System and method for controlling model aircraft WO2004108524A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP04750655A EP1642181A4 (en) 2003-05-30 2004-04-23 System and method for controlling model aircraft

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/449,372 2003-05-30
US10/449,372 US6751529B1 (en) 2002-06-03 2003-05-30 System and method for controlling model aircraft

Publications (2)

Publication Number Publication Date
WO2004108524A2 WO2004108524A2 (en) 2004-12-16
WO2004108524A3 true WO2004108524A3 (en) 2005-02-10

Family

ID=33510346

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2004/012812 WO2004108524A2 (en) 2003-05-30 2004-04-23 System and method for controlling model aircraft

Country Status (2)

Country Link
EP (1) EP1642181A4 (en)
WO (1) WO2004108524A2 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102945046A (en) * 2012-11-15 2013-02-27 中国兵器工业计算机应用技术研究所 Control method of unmanned aircraft
CN107860545B (en) * 2017-12-04 2024-04-12 中国航空工业集团公司沈阳空气动力研究所 Six-degree-of-freedom system for large transonic wind tunnel large load model capture track test
CN112067228A (en) * 2020-09-08 2020-12-11 中国航空工业集团公司哈尔滨空气动力研究所 Drive control device applied to 2m magnitude model dynamic derivative test
CN114563763B (en) 2022-01-21 2022-10-21 青海师范大学 Underwater sensor network node distance measurement positioning method based on return-to-zero neurodynamics
CN116939339A (en) * 2023-09-15 2023-10-24 中国海洋大学 Triaxial holder and method for balancing camera posture of wave glider

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5553812A (en) * 1994-06-03 1996-09-10 United Technologies Corporation Inertial velocity command system
US5841537A (en) * 1997-08-11 1998-11-24 Rockwell International Synthesized attitude and heading inertial reference
US6473676B2 (en) * 1999-12-22 2002-10-29 Honeywell International, Inc. Method, apparatus and computer program product for estimating airplane attitude with reduced sensor set

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0505236A3 (en) * 1991-03-18 1994-11-09 Thomson Csf Structured neural networks for complex system control
US6092919A (en) * 1995-08-01 2000-07-25 Guided Systems Technologies, Inc. System and method for adaptive control of uncertain nonlinear processes

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5553812A (en) * 1994-06-03 1996-09-10 United Technologies Corporation Inertial velocity command system
US5841537A (en) * 1997-08-11 1998-11-24 Rockwell International Synthesized attitude and heading inertial reference
US6473676B2 (en) * 1999-12-22 2002-10-29 Honeywell International, Inc. Method, apparatus and computer program product for estimating airplane attitude with reduced sensor set

Also Published As

Publication number Publication date
WO2004108524A2 (en) 2004-12-16
EP1642181A2 (en) 2006-04-05
EP1642181A4 (en) 2007-07-11

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