UAV

1. Flight Control Dynamics &
UAVs

2. Outline
 Their history
 Basic flight controls
 Roll
 Pitch
 Their benefits
 Where they are headed
 Questions

3. Their History:
 The first UAV was
developed in 1917 – it was
a crude motorized bomb
 They were developed for
risky military operations
 They are still mainly used
in the military, but they are
also used in weather fields

4. Flight Controls
 Several systems to be
controlled
 Many of them are
simple, or can be
simplified for a model
 Most on different
platforms

5. Roll – Actual Block Diagram

6. Roll – Model Block Diagram

Gain = 0.16
 s
( )
a s
( )
k s co

  s
2
b1
 b0





s s d0

  s e0

  s
2
f1s
 f0





 s
( )
a s
( )
k
s s e0

 
L s
( )
11.29
K
s
2
1.93 2.91
K
 s
 11.29
K

From this ζ turns out to be 0.45
and ωn is 1.34.

7. Pitch
x

d
d
 
 
 CL CD

 
 

1
 CL







q

 CW sin 
 

  

 Cl








t
q
d
d
 

2 i

CM  CL CD

 



 

 
 CM  CM
 1  CL


 



 
 q

  CW
 sin 
 

  e


x

d
d
q 

 s
( )
e
1.151
s 0.1774

s
3
0.739
s
2
 0.921
s

de=0.2;A=[-0.313 56.7 0; -0.0139 -
0.426 0; 0 56.7 0];
B=[0.232; 0.0203; 0];
C=[0 0 1];
D=[0];
step(A,B*de,C,D)

8. Pitch – with feedback & PID controller
de=0.2;
Kp=2.9;
Kd=3.5;
Ki=3;
numo=[1.151 0.1774];
deno=[1 0.739 0.921 0];
numpid=[Kd Kp Ki];
denpid=[1 0];
num1=conv(numo,numpid);
den1=conv(deno,denpid);
[numc,denc] = cloop(num1,den1);
t=0:0.01:10;
step (de*numc,denc,t)

9. Benefits of UAVs
 Safety
 No pilot to be shot down
 Can fly into hurricanes or at low altitudes over
the ocean
 Little damage when they crash due to their light
weight
 Affordability
 40 – 70% less than equivalent manned aircraft
 Advancement of science and controls

10. The future of UAVs
 Continued use in military and weather
applications
 Cargo and supplies transportation (5-8)
 Interplanetary exploration (10-15)
 Personal carrier (?)
 Civilian transportation (?)

11. Questions?