Flight Control Dynamics &

UAVs
Outline
Their history
Basic flight controls
Roll
Pitch
Their benefits
Where they are headed
Questions
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
Flight Controls
Several systems to be
controlled
Many of them are
simple, or can be
simplified for a model
Most on different
platforms
Roll Actual Block Diagram
Roll Model Block Diagram

( s )
k s co s b1 b0
2

s s d 0 s e0 s f1 s f0

a( s ) 2

( s ) k
a( s )
s s e0
11.29K
L( s )
2
s 1.93 2.91K s 11.29K

From this turns out to be 0.45

and n is 1.34.
Gain = 0.16
Pitch
CL CD 1
C q CW sin Cl
d

dx
L

d
dt
q
2 i
CM CL CD CM CM 1 CL q CW sin e

d
q
dx

(s) 1.151s 0.1774

e 3 2
s 0.739s 0.921s

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)
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)
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
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 (?)
Questions?