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I. Introduction
This paper shows a fuzzy control application to helicopter
navigation system. A helicopter is an intrinsic complex, nonlinear, unstable process, with coupled modes. Several control
techniques have been used by designers aiming to control
this kind of aircraft, generally using linearized models
([FGF76], [Apk89], [CP72], [Tak93]). Our approach
consists in translating the linguistic control strategy
described by a helicopter pilot into an automatic control
strategy. This qualitative approach allows to consider the
pilot expertise on conducting unstable aircrafts, making it
possible to the system to execute the pilot actions, as take off,
landing and hover. In fact, applications of fuzzy control
([Lee90], [SK92], [SGB93], [MS85]) have indicated
effective utilization of fuzzy control in the context of
complex ill-defined processes that can be controlled by
skillful human operators, as the helicopter.
The basic configuration of a fuzzy logic controller
comprises four components [Lee90]:
a fuzzyfication interface, which performs a scale mapping
on the range of values of input variables into corresponding
universes of discourse;
a knowledge base, which consists of a data base and a
linguistic fuzzy control rule base;
a decision-making logic, which simulates human decisionmaking;
Hierarchical Structure
Mission Interpreter Level
II. Helicopters
Task Level
Take off
Hover
Forward
...
Flight
Landing
Control Level
Collective
Increment
Altitude
Vertical
Velocity
Roll Angle
Velocity
B. Fuzzy Sets
In the collective and tail blocks, seven fuzzy sets are used
(NB negative big, NM negative medium, NS negative small,
ZE zero, PS positive small, PM positive medium and PB
positive big) to represent the values of the input variables
(altitude error and altitude error variation). The cyclic lateral
and longitudinal blocks use only five fuzzy sets
(NM,NS,ZE,PS and PM) for the position error and three sets
(negative, zero and positive) for variation of position error,
angle error and variation of angle error. In order to diminish
the number of rules and make the tuning phase easier, the
fuzzy sets number were reduced in the cyclic blocks.
Figure 4 displays the input variables fuzzy sets of
collective and tail blocks. The ZERO sets are tiny, because
they express the error tolerance in steady state. The SMALL
sets are useful in the overshoot avoidance rules. The
MEDIUM sets are used in most corrections, while the BIG
sets are used only in extreme situations.
NB
NM
NS ZE PS
Min
NM
Min
NS
PB
Max
a)
ZE PS
PM
PM
b)
Max
V. Results
All the blocks use five fuzzy sets for the output variables.
In the collective and tail blocks, the MEDIUM sets are
used in extreme situations, because they imply great
corrections, and they drive the system towards a MEDIUM
input set. The SMALL fuzzy sets are the most used ones,
since they express corrections to small or medium errors.
The output variables fuzzy sets ZERO are very small, and
indicate the equilibrium point (Trim point) where the
command increment is minimal, as mentioned in section
IV.A. A ZERO output does not mean a ZERO command, but
ZERO command increment.
Otherwise, in the cyclic blocks, the ZERO fuzzy sets
indicate no output, while the SMALL and MEDIUM sets
mean small and big outputs, respectively.
C. Rules
1.4
Yaw
1.2
1
Altitude
0.8
0.6
0.4
-0.4
-0.6
-0.8
Samples
1200
900
600
0
-0.2
300
0.2
0
Scaled Values
10cm to the altitude, 0.01 radians to the yaw angle and 20cm
to the XY position.
The transitions from one task to another occur when
steady state is reached. To determine the steady state, we
observe if the output remains into a precision range for a
period of time equal to Dt=(t2-t1), where t1 is the initial time
and t2 is the time of half error between set point and the
initial condition.
NM
NS ZE
PS
PM
PB
Interval
Max
VII. References
[Apk89] P.R.Apkarian, "Structured Stability Robustness
Improvement by Eigenspace Techniques: A Hybrid
Methodology", J. Guidance, vol. 12, N 2, pp.162-168,
March/April 1989;
[CT86] L.Collier, K.Thomas, "How to Fly Helicopters",
TAB Books Inc., Blue Ridge Summit, 1986;