THE AUTOPILOT DESIGN ANALYSIS OF LAPAN SURVEILLANCE UNMANNED AERIAL VEHICLE LSU-05

• Main Author: Fajar, Muhammad
• Format: Theses
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/70271
• Institution: Institut Teknologi Bandung

The LSU-05 is the most recent Unmanned Aerial Vehicle (UAV) project of the Aeronautics Technology Center (Pusat Teknologi Penerbangan – Pustekbang), LAPAN. This UAV is expected to be able to carry 30 kg payload for surveillance purposes. This thesis describes the dynamic modeling of LSU-05 based-on aircraft equations of motion. The motion of the aircraft can be decoupled into two modes, namely the longitudinal mode and lateral-directional mode. Non-linear aircraft dynamics model for each mode is then developed in MATLAB/SIMULINK environment. Linearization of the non-linear model is performed using the linearization tool of SIMULINK. The aerodynamic model of the LSU-05 is generated by The Athena Vortex Lattice software. The longitudinal autopilot described in this thesis consists of four modes; those are Pitch damper, Pitch Attitude Hold, Altitude Hold, and Speed Hold. The lateral-directional autopilot described in this thesis consists of four modes; Yaw Damper, Roll Attitude Hold, Heading Hold, and Waypoint Following. The Autopilot of the UAV will be designed at four operating speeds, namely 15 m/s, 20 m/s, 25 m/s, and 30 m/s. The controller is designed, based on the linear model of the aircraft in the state space form. A Proportional-Integral-Derivative (PID) controller structure is chosen, using root locus method to determine mainly the proportional (P) gain. Integral (I) and derivative (D) gain will only be used if the proportional gain can not achieve the desired target or if an overshoot / undershoot reduction is required. The overshoot/undershoot should not exceed 5% and settling time is less than 30 seconds. The controller designed is simulated using MATLAB and SIMULINK. Preliminary analysis of the controller performance shows that the controller can be used to stabilize the aircraft and to automatize the speed, altitude, bank, and heading control throughout the considered speed range.