Maneuvering of a Micro Air Vehicle

1
Maneuvering of a Micro Air Vehicle

• Helen Garcia
• Dr. Rick Lind
• Department of Mechanical And
• Aerospace Engineering

2
Controllers

• Stability Augmentation System (SAS)
• Yaw Damper
• Pitch Damper
• Control Augmentation System (CAS)
• Pitch rate tracker
• Roll rate tracker
• Aileron rudder interconnect (ARI)

3
Yaw Damper

• Purpose is to improve dutch roll motion
• Minimizes dutch roll by opposing (damping) the
  yaw moment of the airplane by use of rudder
• Wind gust rejection
• Design
• Linear model
• Use root locus to find gain
• Block diagram
  

P
Yaw rate
A
Washout filter
K
4
Pitch Damper

• Purpose is to improve short period motion
• Design
• Use root locus to find gain for increased damping
• Block Diagram

pitch rate
A
P
K
5
Pitch rate tracker

• Purpose is for precision tracking
• Uses pitch rate as feedback
• Designed using root locus
• Block Diagram
• Integrator keeps pitch rate at zero if no
  pressure applied on control stick

P
pitch rate
Ki
A
6
Roll rate tracker

• For precision tracking
• Uses roll rate as feedback
• Block Diagram

A
P
Roll rate
Kp
7
ARI

• Purpose is to provide component of yaw rate
  needed for stability-axis roll
• Connects aileron actuator input to rudder
  actuator input with a gain dependent on
  angle-of-attack
• Block Diagram

roll rate
Aa
P
alpha
Kari
yaw rate
Ar
8
Current Status

• Previous work
• All controllers have been studied for F16 and 747
  models
• Only Yaw Damper designed for MAV
• Upcoming work
• Current MAV only has elevators
• Yaw damper and ARI possible with rudder
• Pitch rate and roll rate tracker are optional