東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁 到查詢結果 [ null ]

切換: 標籤 | MARC模式 | ISBD

Model-Scale Evaluation of Autonomous...

Hendrick, Christopher M.,

FindBook

Google Book

Amazon

博客來

Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft // Christopher M Hendrick.
作者:	Hendrick, Christopher M.,
面頁冊數:	1 electronic resource (156 pages)
附註:	Source: Dissertations Abstracts International, Volume: 86-03, Section: A.
Contained By:	Dissertations Abstracts International86-03A.
標題:	Aircraft. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31353802
ISBN:	9798384212195

Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft /
Hendrick, Christopher M.,

Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft /Christopher M Hendrick. - 1 electronic resource (156 pages)

Source: Dissertations Abstracts International, Volume: 86-03, Section: A.

Ship landing in high sea states is a challenge for both manned and unmanned rotorcraft. A system that provides reliable autonomous recovery of ship-based rotorcraft could reduce mishap rates and reduce costs associated with training and certification testing. Such a system might also increase operational capability by allowing operations in more severe wave and wind conditions. These potential benefits have motivated a significant amount of public domain research on autonomous ship landing algorithms for rotorcraft. Existing works have primarily been simulation based, however, and the rigorous experimental evaluation of advanced landing algorithms is lacking in the public-domain literature. This is due in part to the inaccessibility of full-scale testing. Model-scale testing, on the other hand, offers a more accessible test bed for vetting autonomous landing solutions and has therefore been utilized in all existing openly available experimental studies. These studies have not considered the scaling of either the closed-loop aircraft dynamics or ship motions, however, meaning key aspects of the full-scale landing scenario may not be realistically represented at model-scale.The objective of this research was to develop a methodology for performing dynamically scaled autonomous ship landing experiments, and then to use the proposed scaling method to perform a rigorous experimental analysis of advanced autonomous landing guidance and control modes. Toward this end, Froude scaling is proposed for relating aircraft closed-loop dynamics and ship motions across test scales and the validity of this method is then analyzed. Two representative landing guidance algorithms were then developed and experimentally evaluated using the proposed scaling methodology. The first is an advanced landing strategy that uses quadratic programming (QP) optimization to plan the landing path to a forecasted deck state. The second is a simpler ``baseline'' guidance method that tracks deck motions while closing the distance between the aircraft and deck at a constant rate. Both guidance algorithms command position and heading to an explicit model following (EMF) control law.The guidance algorithms were first evaluated in experiments conducted in the Maneuvering and Seakeeping Basin (MASK) located at the Naval Surface Warfare Center Carderock Division. During these experiments, control law parameters were modified to impose artificial constraints on the maneuverability of the aircraft, providing insight into how well both guidance methods can cope with a less agile airframe. The results showed that the predictive landing strategy allowed for more direct landing paths to be planned when compared to the baseline algorithm and can also allow for landings to be performed with lower control bandwidth. The baseline guidance algorithm, on the other hand, proved to be both simple and reliable when the UAV was in high bandwidth configurations, but may not be feasible for aircraft with limited control authority that must land in moderate to high sea states.The experimental setup in the MASK did not include aerodynamic disturbances. Additional flight tests were therefore performed in the Penn State Indoor Flight Facility to determine if the QP guidance algorithm offers any advantage over the baseline method when operating in the presence of a significant aerodynamic disturbance. The experimental results obtained at Penn State did not indicate that the QP algorithm provides a definitive advantage over the baseline algorithm in terms of matching deck position, velocity, and attitude at landing while operating in a gusty environment.

English

ISBN: 9798384212195Subjects--Topical Terms:

832698
Aircraft.

Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft /
LDR:05105nmm a22004213i 4500 001 2438623
005 20260727134402.5
006 m o d
007 cr|nu||||||||
008 261011s2024 miu||||||m |||||||eng d
020 $a 9798384212195
035 $a (MiAaPQD)AAI31353802
035 $a (MiAaPQD)PennState21454cmh698
035 $a AAI31353802
040 $a MiAaPQD $b eng $c MiAaPQD $e rda
100 1 $a Hendrick, Christopher M., $e author. $3 3829986
245 1 0 $a Model-Scale Evaluation of Autonomous Ship Landing Guidance and Control Modes for Rotorcraft / $c Christopher M Hendrick.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2024
300 $a 1 electronic resource (156 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Dissertations Abstracts International, Volume: 86-03, Section: A.
500 $a Advisors: Horn, Joseph F. Committee members: Pritchett, Amy R.; Langelaan, Jack W.; Rahn, Christopher D.; Johnson, Eric N.
502 $b Ph.D. $c The Pennsylvania State University $d 2024.
520 $a Ship landing in high sea states is a challenge for both manned and unmanned rotorcraft. A system that provides reliable autonomous recovery of ship-based rotorcraft could reduce mishap rates and reduce costs associated with training and certification testing. Such a system might also increase operational capability by allowing operations in more severe wave and wind conditions. These potential benefits have motivated a significant amount of public domain research on autonomous ship landing algorithms for rotorcraft. Existing works have primarily been simulation based, however, and the rigorous experimental evaluation of advanced landing algorithms is lacking in the public-domain literature. This is due in part to the inaccessibility of full-scale testing. Model-scale testing, on the other hand, offers a more accessible test bed for vetting autonomous landing solutions and has therefore been utilized in all existing openly available experimental studies. These studies have not considered the scaling of either the closed-loop aircraft dynamics or ship motions, however, meaning key aspects of the full-scale landing scenario may not be realistically represented at model-scale.The objective of this research was to develop a methodology for performing dynamically scaled autonomous ship landing experiments, and then to use the proposed scaling method to perform a rigorous experimental analysis of advanced autonomous landing guidance and control modes. Toward this end, Froude scaling is proposed for relating aircraft closed-loop dynamics and ship motions across test scales and the validity of this method is then analyzed. Two representative landing guidance algorithms were then developed and experimentally evaluated using the proposed scaling methodology. The first is an advanced landing strategy that uses quadratic programming (QP) optimization to plan the landing path to a forecasted deck state. The second is a simpler ``baseline'' guidance method that tracks deck motions while closing the distance between the aircraft and deck at a constant rate. Both guidance algorithms command position and heading to an explicit model following (EMF) control law.The guidance algorithms were first evaluated in experiments conducted in the Maneuvering and Seakeeping Basin (MASK) located at the Naval Surface Warfare Center Carderock Division. During these experiments, control law parameters were modified to impose artificial constraints on the maneuverability of the aircraft, providing insight into how well both guidance methods can cope with a less agile airframe. The results showed that the predictive landing strategy allowed for more direct landing paths to be planned when compared to the baseline algorithm and can also allow for landings to be performed with lower control bandwidth. The baseline guidance algorithm, on the other hand, proved to be both simple and reliable when the UAV was in high bandwidth configurations, but may not be feasible for aircraft with limited control authority that must land in moderate to high sea states.The experimental setup in the MASK did not include aerodynamic disturbances. Additional flight tests were therefore performed in the Penn State Indoor Flight Facility to determine if the QP guidance algorithm offers any advantage over the baseline method when operating in the presence of a significant aerodynamic disturbance. The experimental results obtained at Penn State did not indicate that the QP algorithm provides a definitive advantage over the baseline algorithm in terms of matching deck position, velocity, and attitude at landing while operating in a gusty environment.
546 $a English
590 $a School code: 0176
650 4 $a Aircraft. $3 832698
650 4 $a Aviation. $3 873136
650 4 $a Unmanned aerial vehicles. $3 3560267
650 4 $a Software. $2 gtt. $3 619355
650 4 $a Spectrum allocation. $3 3562481
650 4 $a Helicopters. $3 1636225
650 4 $a Bandwidths. $3 3560998
650 4 $a Pilots. $3 3681649
650 4 $a Altitude. $3 746362
650 4 $a Controllers. $3 3559217
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Electrical engineering. $3 649834
650 4 $a Electromagnetics. $3 3173223
650 4 $a Optics. $3 517925
650 4 $a Robotics. $3 519753
650 4 $a Transportation. $3 555912
690 $a 0538
690 $a 0544
690 $a 0607
690 $a 0752
690 $a 0771
690 $a 0709
710 2 $a The Pennsylvania State University. $e degree granting institution. $3 3765934
720 1 $a Horn, Joseph F. $e degree supervisor.
773 0 $t Dissertations Abstracts International $g 86-03A.
790 $a 0176
791 $a Ph.D.
792 $a 2024
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31353802