Development and Flight Testing of a Turbulence Mitigation System for Micro Air Vehicles

作者：Mohamed A^*; Abdulrahim M; Watkins S; Clothier R

来源：Journal of Field Robotics, 2016, 33(5): 639-660.

DOI：10.1002/rob.21626

There are significant challenges associated with the flight control of fixed-wing micro air vehicles (MAVs) operating in complex environments. The scale of MAVs makes them particularly sensitive to atmospheric disturbances thus limiting their ability to sustain controlled flight. Bio-inspired, phase-advanced sensors have been identified as promising sensory solutions for complementing current inertial-only attitude sensors. This paper describes the development and flight testing of a bio-inspired, phase-advanced sensor and associated control system that mitigates the impact of turbulence on MAVs. Multihole pressure probes, inspired by the sensory function of bird feathers, are used to measure the flow pitch angle and velocity magnitude ahead of the MAV's wing. The sensors provide information on the disturbing phenomena before it causes an inertial response in the aircraft. The sensor output is input to a simple feed-forward control architecture, which enables the MAV to generate a mitigating response to the turbulence. The results from wind-tunnel and outdoor testing in high levels of turbulence are presented. The disturbance rejection performance of the phase-advanced sensory system is compared against that of a conventional inertial-based control system. The developed sensory system shows significant improvement in terms of disturbance rejection performance compared to that of standard inertial-only control system. It is concluded that a phase-advanced sensory systems can complement conventional inertial-based sensors to improve the attitude-tracking performance of MAVs.

• 出版日期2016-8