ǂA ǂsystem for remote piloting of an aircraft with motion parameters in the feedback loop

[M. Petrašinović]

XLVI, 840 str.

Mašinstvo - Vazduhoplovstvo / Mechanical Engineering - Aerospace Engineering

Pored konstruisanja letelica, od samog početka vazduhoplovstva najzahtevnije je bilo ovladati umećem pilotiranja letelicama. Nagli i nezaustavljiv razvoj i upotreba bespilotnih letelica je umeće pilotiranja ponovo vratilo u fokus istraživača i stručnjaka iz ove oblasti i to sa ključnom dilemom da li bespilotne letelice imaju pilote. U ovoj disertaciji je prikazan koncept sistema koji omogućava pilotu daljinski upravljane letelice da ima osećaj prilikom upravljanja kao da se nalazi u samoj letelici. Bespilotna letelica ili dron u svakom trenutku, i po potrebi, može da postane daljinski upravljana letelica. Sa daljinski upravljane letelice se informacija o njenom kretanju, u realnom vremenu, bežičnom komunikacijom, prenosi na simulator leta. Platforma simulatora leta se na osnovu ove informacije na odgovarajući način kreće u odnosu na bazu. U ovom konceptu sistema je primenjen simulator leta sa šest stepeni slobode kretanja čiji je mehanizam zasnovan na Stjuartovoj platformi sa paralelnim kinematičkim lancem i sa obrtnim aktuatorima (6RSS tip mehanizma). Pilot upravlja letelicom sa simulatora leta na osnovu slike sa kamere koja se nalazi na letelici ali i na osnovu kretanja platforme simulatora. Na ovaj način je dobijen zatvoren lanac pilotiranja letelicom sa parametrima kretanja letelice u povratnoj sprezi. Telo pilota se kreće u prostoru i njegov vestibularni sistem registruje kretanje koje je u skladu sa onim što vidi pomoću kamere na letelici i što može da očita sa odgovarajućih instrumenata. Prikazan je razvijen i implementiran algoritam za optimizaciju geometrije mehanizma za potrebe simuliranja leta. Projektovan je kompletan električni sistem letelice sa svim programima koji omogućavaju ovakvo pilotiranje. Sistem je primenjen na više različitih konstrukcionih tipova letelica čime je pokazano da je sistem primenljiv na većinu tipova letelica koji su danas u upotrebi i time se nagoveštava da ovaj sistem može da se iskoristi i za obuku pilota koji neposredno upravljaju letelicama. Rezultat rada je da je omogućeno preciznije i za pilote daleko prirodnije daljinsko pilotiranje letelicama.

In addition to aircraft construction, since the very beginning of aviation, mastering the skill of piloting aircraft has been the most demanding. The rapid and unstoppable development and use of unmanned aerial vehicles have brought the skill of piloting back into the focus of researchers and experts in this field, with the key dilemma of whether unmanned aerial vehicles have pilots. This dissertation presents a concept of a system that allows a remotely controlled aircraft pilot to feel flying as if he is inside the aircraft itself. An unmanned aircraft or drone can become a remotely controlled aircraft at any moment and as needed. The information about its movement in real-time is transmitted to a flight simulator through wireless communication. Based on this information, the flight simulator platform moves appropriately relative to its base. This system concept applies a flight simulator with six degrees of freedom, whose mechanism is based on a Stewart platform with a parallel kinematic chain and rotary actuators (6RSS mechanism type). The pilot controls the aircraft from the flight simulator based on the camera feed from the aircraft and the motion of the simulator platform. This creates a closed-loop control system for piloting the aircraft with feedback on the aircraft’s motion parameters. The pilot’s body moves in space, and his vestibular system registers the motion consistent with what he sees through the camera on the aircraft and what he can read from the relevant instruments. An algorithm for optimizing the mechanism’s geometry for flight simulation purposes has been developed and implemented. A complete electrical system for the aircraft has been designed, along with all the necessary programs to enable this type of piloting. The system has been applied to various types of aircraft designs, demonstrating its applicability to most aircraft types used today, suggesting that this system can also be used for training pilots who directly control aircraft. The result of the work is that more precise and far more natural remote aircraft piloting has been made possible for pilots.

Simulator leta, Bespilotna letelica, Dron, Rotaciona Stjuartova platforma, Daljinsko pilotiranje, Daljinski upravljanja letelica

Flight simulator, Unmanned aerial vehicle, Drone, Rotary Stewart platform, Remote piloting, Remote control of aircraft

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