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    Wyświetlanie 1-7 z 7
    Tytuł:
    The parrot UAV controlled by PID controllers
    Autorzy:
    Koszewnik, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/386263.pdf
    Data publikacji:
    2014
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    PID control
    parrot
    quadro-rotor
    modeling
    regulacja PID
    modelowanie
    UAV
    Opis:
    The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.
    Źródło:
    Acta Mechanica et Automatica; 2014, 8, 2; 65-69
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Multi-UAV flight using virtual structure combined with behavioral approach
    Autorzy:
    Kownacki, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/386530.pdf
    Data publikacji:
    2016
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    UAV
    multi
    virtual structure
    formation
    flocking behaviors
    bezzałogowy statek powietrzny
    sterowanie pojazdami
    symulacja numeryczna
    pojazd bezzałogowy
    Opis:
    Implementations of multi-UAV systems can be divided mainly into two different approaches, centralised system that synchronises positions of each vehicle by a ground station and an autonomous system based on decentralised control, which offers more flexibility and independence. Decentralisation of multi-UAV control entails the need for information sharing between all vehicles, what in some cases could be problematic due to a significant amount of data to be sent over the wireless network. To improve the reliability and the throughput of information sharing inside the formation of UAVs, this paper proposes an approach that combines virtual structure with a leader and two flocking behaviours. Each UAV has assigned different virtual migration point referenced to the leader's position which is simultaneously the origin of a formation reference frame. All migration points create together a virtual rigid structure. Each vehicle uses local behaviours of cohesion and repulsion respectively, to track its own assigned point in the structure and to avoid a collision with the previous UAV in the structure. To calculate parameters of local behaviours, each UAV should know position and attitude of the leader to define the formation reference frame and also the actual position of the previous UAV in the structure. Hence, information sharing can be based on a chain of local peer-to-peer communication between two consecutive vehicles in the structure. In such solution, the information about the leader could be sequentially transmitted from one UAV to another. Numerical simulations were prepared and carried out to verify the effectiveness of the presented approach. Trajectories recorded during those simulations show collective, coherence and collision-free flights of the formation created with five UAVs.
    Źródło:
    Acta Mechanica et Automatica; 2016, 10, 2; 92-99
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Practical aspects of design and testing unmanned aerial vehicles
    Autorzy:
    Szywalski, Patryk
    Waindok, Andrzej
    Powiązania:
    https://bibliotekanauki.pl/articles/386901.pdf
    Data publikacji:
    2020
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    unmanned aerial vehicles
    UAV
    unmanned aerial systems
    UAS
    navigation system
    trajectory generation
    Opis:
    A design of an unmanned aerial vehicle (UAV) construction, intended for autonomous flights in a group, was presented in this article. The design assumptions, practical implementation and results of the experiments were given. Some of the frame parts were made using 3D printing technology. It not only reduces the costs but also allows for better fitting of the covers to the electronics, which additional-ly protects them against shocks and dirt. The most difficult task was to develop the proper navigation system. Owing to high costs of preci-sion positioning systems, common global positioning system (GPS) receivers were used. Their disadvantage is the floating position error. The original software was also described. It controls the device, allows performing autonomous flight along a pre-determined route, anal-yses all parameters of the drone and sends them in a real time to the operator. The tests of the system were carried out and presented in the article, as well.
    Źródło:
    Acta Mechanica et Automatica; 2020, 14, 1; 50-58
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Real flight demonstration of pitch and roll control for UAV canyon flights
    Autorzy:
    Kownacki, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/387581.pdf
    Data publikacji:
    2013
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    obstacle avoidance
    autonomous control
    unmanned air vehicle
    reactive control
    urban canyon
    omijanie przeszkód
    sterowanie autonomiczne
    bezpilotowy statek latający
    Opis:
    The paper presents results of an experiment prepared to validate the autonomous control of obstacle avoidance designed for a micro UAV to fly in urban canyons. The idea of the obstacle avoidance assumes usage of two miniature laser rangefinders responsi-ble for obstacle detection and range measurement. Measured ranges from obstacles placed on both sides of UAV can be used to simulta-neous control of desired roll and pitch angles. Such combination of controls allows achieving high agility of UAV, because during a maneu-ver of obstacle avoidance UAV can make a turn and climb at the same time. In the experiment, controls of roll and pitch angles were veri-fied separately to ensure high reliability of results and clearance of UAV behavior in the real flight. Because of lack of appropriate objects, which can be used as obstacles, laser rangefinders were directed vertically to the ground instead of the original horizontal configuration. So sensors determine ranges from the ground during a descent flight of UAV, and if their values are lower than defined threshold, it could be interpreted as obstacle detection. The experiment results present UAV behavior adequate to designed controls of roll and pitch angle. The vehicle turns in the opposite direction to the sensing axis of laser rangefinder detecting an obstacle and starts climbing when both sensors detect obstacles at the same range below the threshold.
    Źródło:
    Acta Mechanica et Automatica; 2013, 7, 3; 148-154
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A ground control station for the UAV flight simulator
    Autorzy:
    Romaniuk, S.
    Gosiewski, Z.
    Ambroziak, L.
    Powiązania:
    https://bibliotekanauki.pl/articles/386612.pdf
    Data publikacji:
    2016
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    ground control station
    flight simulator
    aircraft flight
    lot samolotu
    symulator lotu
    stacja kontroli naziemnej
    naziemne stacje
    stacje naziemne
    Opis:
    In the paper implementation of a ground control station for UAV flight simulator is shown. The ground control station software is in cooperation with flight simulator, displaying various aircraft flight parameters. The software is programmed in C++ language and utilizes the windows forms for implementing graphical content. One of the main aims of the design of the application was to simplify the interface, simultaneously maintaining the functionality and the eligibility. A mission can be planned and monitored using the implemented map control supported by waypoint list.
    Źródło:
    Acta Mechanica et Automatica; 2016, 10, 1; 28-32
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Self-adaptive asymmetrical artificial potential field approach dedicated to the problem of position tracking by nonholonomic uavs in windy enivroments
    Autorzy:
    Kownacki, Cezary
    Powiązania:
    https://bibliotekanauki.pl/articles/1837944.pdf
    Data publikacji:
    2021
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    artificial potential field
    asymmetrical potential field
    position tracking
    UAV
    self-adaptive potential field
    Opis:
    Artificial potential fields (APFs) are a popular method of planning and controlling the path of robot movement, including unmanned aerial vehicles (UAVs). However, in the case of nonholonomic robots such as fixed-wing UAVs, the distribution of velocity vectors should be adapted to their limited manoeuvrability to ensure stable and precise position tracking. The previously proposed local asymmetrical potential field resolves this issue, but it is not effective in the case of windy environments, where the UAV is unable to maintain the desired position and drifts due to the wind drift effect. This is reflected in the growth of position error, which, similar to the steady-state error in the best case, is constant. To compensate for it, the asymmetrical potential field approach is modified by extending definitions of potential function gradient and velocity vector field (VVF) with elements based on the integral of position tracking error. In the case of wind drift, the value of this integral increases over time, and lengths and orientations of velocity vectors will also be changed. The work proves that redefining gradient and velocity vector as a function of position tracking error integrals allows for minimisation of the position tracking error caused by wind drift.
    Źródło:
    Acta Mechanica et Automatica; 2021, 15, 1; 37-46
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Badania symulacyjne charakterystyk aerodynamicznych bezzałogowego mikro samolotu typu delta z barierami mechanicznymi umieszczonymi przy krawędzi natarcia
    The simulation research on aerodynamic characteristics of the micro delta wing UAV with mechanical barriers located near edges of attack
    Autorzy:
    Kondratiuk, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/387461.pdf
    Data publikacji:
    2010
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    symulacja
    aerodynamika
    mikrosamolot
    simulation
    aerodynamics
    microplane model
    Opis:
    W niniejszym artykule przedstawiono badania symulacyjne sił, momentów i współczynników aerodynamicznych bezzałogowego mikrosamolotu z barierami mechanicznymi umieszczonymi przy krawędzi natarcia. Wymiary mechanicznych turbulizatorów zostały określone we wcześniejszych badaniach. Na drodze obliczeń MES wyznaczono i porównano wartości współczynników aerodynamicznych dla różnych konfiguracji barier. Przedstawiono zależność pomiędzy charakterystykami mikrosamolotu i liczbą Reynoldsa. Na tej podstawie można wstępnie wnioskować o zakresie prędkości umożliwiającym stosowanie krawędziowych turbulizatorów mechanicznych. W rezultacie obliczeń przedstawiono wstępną koncepcję sterowania lotem mikropłatowca z barierami mechanicznymi umieszczonymi po obu stronach powierzchni nośnych skrzydła typu delta.
    In this paper simulation research on aerodynamic forces, moments and coefficients of the micro UAV with mechanical barrier situated near edges of attack were presented. Dimensions of mechanical turbulizers were obtained in previous exami nations. Aerodynamic coefficients values for different barriers configurations were computed and compared by means of FEM. Relationship between MAV characteristics and Reynolds numbe was depicted. On the basis of the calculations it is possible to tentatively draw conclusions as to the range of air velocity which allows to apply mechanical edge vortex generators. Basing on calculations the preliminary idea of the flight control of the micro aerial vehicle with mechanical barriers located on both side of the delta wing lift surfaces was presented.
    Źródło:
    Acta Mechanica et Automatica; 2010, 4, 3; 54-59
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-7 z 7

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