IoA Experience on Aerial Delivery
Abstract
This paper presents some selected results of the project SKY MULE which is conducted in the Institute of Aviation (IoA) in Warsaw. The aim of this research is to design and construct an automatic trajectory controller for an unmanned parafoil and payload system to make it usefull for precise aerial delivery tasks. SKY MULE's payload is composed of two connected but separable modules: the control module consisting of electronic and electro-mechanical equipment, and cargo module (various dimensions and shapes of that module are allowable). SKY MULE's motion is controlled by two control cords being operated by electro-mechanical servo-actuators with DC motors and PWM controllers. Example results of laboratory tests carried on these units is presented. Control unit is designed with PC-104 computer as a central sub-system. It is provided with software for pre-programming the site of destination and flight trajectory. The attention is focused mainly on robust control algorithms designed to assure stable realization of SKY MULE's desired trajectory, even for large changes of system parameters, occurred due to different shapes and parameter changes of cargo modules. Feedback signals are provided by measuring unit based on MEMS-type sensors integrated with GPS receiver. The system is controlled in two alternative modes: autonomously, by automatic system, or remotely, by a human operator.
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 01, 2006
- Accession Number
- ADA476429
Entities
People
- Jerzy Graffstein
- Mariusz Krawczyk
- Piotr Maslowski
Organizations
- Institute of Aviation, Warsaw