Kutatás-fejlesztés a
közlekedési
programok területén
Prof. Bokor József
MTA SZTAKI - BME
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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• Research trends and perspectives in the area of
– Road vehicle and road traffic systems
– Air vehicle and air traffic systems
• Interactions in research for future automatic
systems will be highlighted
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Content
• Overview of aircraft and air traffic control
systems
• Research projects in SZTAKI and BME on
Flight and Road Traffic Systems
• Interactions with road vehicle control systems
• Future trends
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Aircraft and Air Traffic Control
Systems
• Between 2000 and 2007 the total number of
vehicles was increased by 35-40%.
• In the next two decades the air traffic will be
doubled.
• This implies an expected demand of
approximately 24000 aircrafts.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Aircraft and Air Traffic
Control Systems
• What existing or new tasks should be automated an why?
• What additional performance requirements will arise?
• How to incorporate the emerging C3 (Computing, Communication
and Control) technology (in addition to research for better air frame,
engine, new materials)
• Cost effectiveness and environmental protection requirements will
be strenghten
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Aircraft and Air Traffic Control Systems
Three loops of control and automation:
1. Fly by Wire system:
Fly-by-wire control system (implemented on board
computers) are to operate the control surfaces and
engines to ensure that:
• The aircraft is simultanously robustly stable and
manoveuvrable against change in Cg, speed,
configuration. Extends the stability domain!
• Good command following (e.g: for stick)
• Protects the aircraft to stay in a safe flight envelope
(keeps constraints on pitch, roll, bank angle, high speed,
high g level)
• Fault detection and reconfiguration, control under loss of
effectiveness in control surfaces.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Aircraft and Air Traffic Control Systems
2. Guidance and autopilot control loop
• Trajectory tracking
• Command following: vertical speed, flight path angle,
speed. Ex.: Autopilot, Autothrust systems
This is a hybrid control system:
• Discrete states are the guidance modes: fly a given
heading (HDG mode), Altitude Hold (ALT mode).
• Continuous state variables of the flying aircrafts
Need for theory and application of switching nonlinear
(LPV) systems!
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
-7-
Aircraft and Air Traffic Control Systems
3. Navigation loop:
Guidance of the aircraft along a flight plan or flying a
mission.
In traditional commertial aircrafts the role of pilots is
dominating with collaboration with Air Traffic Management
(ATM) systems.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Aircraft and Air Traffic Control Systems
4. New loop: Flight Management System (FMS)
• FMS sends the waypoint data to the autopilot
• Autopilot guides the aircraft along the feasible active
flight path leg operating under „optimum” conditions.
• Pilot selects the appropriate guidance mode.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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The four control loops of air traffic
control systems
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Aircraft and Air Traffic Control Systems
UAV control systems fully automate the 4 loops and:
• Automate mission flying and formation flying.
• Use Software Enabled Control technology to extend
flight capabilities beyond human controlled systems.
Strong interaction with research trends in automated
• road
• underwater
vehicle control systems.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Intelligent Vehicle Model Laboratory
Head: Soumelidis Alexandros, PhD
Autonomous vehicle
(UAV,URV) models:
aircrafts, helicopters,
cars
Model experiments:
individual and
cooperative control
Throttle
Roll
Pitch
Yaw
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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UAV lab
Systems and Control Laboratory joined to „UAV lab” initiated by
the Department of Aerospace Engineering and Mechanics
of the University of Minnesota
Members:
University of Minnesota (Prof. Gary Balas)
University of Sannio, Benevento, Italy (Prof. Francesco Borrelli)
Computer and Automation Research Institute (Prof. Jozsef Bokor)
Budapest University of Technology and Economics (Prof. J. Bolor)
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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UAV lab
Objectives:
The UAV research group is actively involved in expanding
the capabilities of UAV systems for today and tomorrow.
Current research focuses on development of navigation,
guidance and control strategies for autonomous flight in
enclosed indoor environments.
The focus of research is not only to address issues from
technological standpoint, but also ensure the system is
built mostly out of commercial of the shelf (COTS)
components to maximize cost benefits, share the knowhow of design and development of hardware and software
with researchers across the world with open source
philosophy.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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UAV lab
Common activities:
Building the same experimental UAV platform at the site of
every member
with the purpose to perform common
measurements, data acquisition tasks, system
identification, and control experiments.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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UAV lab
The Unmanned Aerial Vehicle:
A radio-controlled model-plane
equipped with a high performance
on-board computer and sensors.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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• Brushless DC motor drive
• Lithium Polymer battery
• Throttle, rudder, elevator,
and aileron control
• Manual/automated mode
of operation
• Inertial sensors: MEMS
accelerometers and gyros,
magnetometer, barometric
altitude sensor, Pitot-tube
pressure based velocity
sensor, GPS
• Freescale MCP555 32-bit
board computer
• Wireless digital
communication with a
Ground Station
UAV lab
Guidance and Autopilot Loops
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Waypoint Guidance (lateral–directional control)
Altitude hold
IAS (Indicated Air Speed) hold
Extended Kalman Filter for estimating states
Data acquisition – sensor and estimated data
Navigation and Flight Control
• On-board control – waypoint guidance
• Trajectory (waypoint) planning, altitude, IAS setpoint
control on the Ground Station
• Takeoff / landing, emergency operations: manual
control
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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UAV lab
Recent tasks:
• System identification based upon test-flight data
• Building accurate control oriented mathematical
model
• Designing controllers for several flight situations
• Implementing controllers on the board computer
• Validation & verification of the controllers in real flight
conditions
• Considering safety and reliability conditions
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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The Quadrotor Helicopter concept
• 4 rotors in X-shaped layout
• 2 pairs counter-rotating
• Yaw, pitch, roll, and
thrust control
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Building a Quadrotor Helicopter
Wireless
Motor
Global Position
Communication
Control
Sensing
CAN network
Main Control
Unit
• Embedded, networkbased distributed control
• Multiple microcomputers
interconnected CAN
• Nonlinear model-based
control
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
Motor
Motor
Control
Control
Sensors
Motor
Power Supply
Inertial, magnetic, US
Control
Control
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Measurement and identification
• Static and dynamic
characteristics of a rotor
and drive assembly
• Thrust and reaction torque
measurements
• A microcontroller-based
measurement device
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Quadrotor control
• Realization: an embedded one-board microcomputer
based on Freescale MPC555 processor.
• 32-bit floating-point processor, Power PC architecture,
with embedded CAN interface.
• Ideal for complex feedback control applications.
• Algorithmic design, realization, and simulation testing in
Matlab/Simulink system of Mathworks.
• Direct code development within Matlab/Simulink through the
RealTime Workshop and the Embedded Target for MPC555.
• Communication with the a ground-station by a wireless digital link.
• On-board sensor unit: MEMS inertial sensors.
• Indoor positioning system: ultrasound and/or camera based.
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
- 22 -
Indoor positioning: RF&US
Ultrasound
transmitter
On-board
ultrasound
receiver
• Ultrasound-based positioning
• RF-based synchronization
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Indoor positioning:
camera vision
• Illuminated color markers
(LEDs) on-board
• Image processing
• Multicamera positioning
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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URV:model-car test platform
• Cooperative control experiments
based on a group of vehicles
• Wireless digital ad-hoc network
• Formation control
• Emulation of a crossing
y
x
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Future Goals in UAV and URV
UAV:
• Cooperative control of multiple UAVs, formation control
• Reconfigurable / fault tolerant control
• Environment sensing, navigation based upon sensor
fusion – inertial, image, etc. sensors
URV:
• Modeling complex situations requiring cooperation
• High-fidelity formation and traffic simulations
1:5 independent 4-wheel electric car:
• Integrated electronic control
• Distributed control based upon FlexRay network
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Future developments:
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Automated taxing (Messier-Bugatti-BME and partners)
Automatic take-off, landing
Collision avoidance in air or ground
Increase of situational awarness by better representation of
aircraft states and other enviroment like:
- inrfared or millimetre radar sensors
- use of terrain and obstacle data base
Mission and formation flying (automated)
Role of pilots: - control and monitor of the automated systems
- decision making in major failure as unpredicted
dangerous situations
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Distributed and Redundant Electro
mechanical nose gear Steering System
FP6 project led by Messier-Bugatti
 Improving steering system safety,
availability and competitiveness
 Towards More Electric Aircraft
www.dress-project.eu
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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Robust LPV Gain Scheduling Techniques for Space Applications
ESA ITT: A0/1-4781/05/NL/JA
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
- 29 -
Thank You for Your Attention !
Systems and Control Laboratory
Computer and Automation Research Institute
Hungarian Academy of Sciences
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