2017 3rd International Conference on Control, Automation and Robotics (ICCAR), 2017
This paper presents a methodology to implement a flight control system based on PID control desig... more This paper presents a methodology to implement a flight control system based on PID control design for PX4 autopilot system. The objective of the method is to find out the optimal controller gains on the same control structure of PX4 flight stack software without iterative controller tuning. This is achieved through a two-step procedure which consist of aircraft system identification and PID optimized control design. The first step to implement an autopilot system on an Unmanned Aerial Vehicle (UAV) relates to characterizing the UAV's dynamics using a mathematical model. To accomplish the accuracy of the particular UAV control, the process of system identification, which is the estimation of the parameters of the equation of motion, is essential. The measurement of inputs and outputs during manual flight is utilized to determine the unknown parameters of SISO mathematical model using a software of comprehensive identification from frequency responses. Subsequently, the model is utilized for an optimization-based tuning of these PID controller gains offline in order to minimize the requirement of numerous in-flight tuning. The controller is implemented on PX4 autopilot system. The results are demonstrated that the tracking control system has excellent dynamic performance in respect of simple design, high precision, and easy implement.
2022 19th International Joint Conference on Computer Science and Software Engineering (JCSSE), 2022
This research presents the method to improve the robustness of indoor UAV localization via fusion... more This research presents the method to improve the robustness of indoor UAV localization via fusion of visual SLAM and Lidar SLAM with Extended Kalman Filter (EKF). The visual and Lidar SLAM methodologies are applied to compensate for different pose errors in various situations, such as various lighting and reflection, respectively. In the experiment, Lidar and a stereo camera with SLAM methods are installed on the drone. When starting SLAM both methods will localize and provide position and orientation data. The data will be fused by Extended Kalman Filter and provides updated data. Therefore, if there is an error in either of the SLAM methods, the system will continue to work properly. In the test, the drone was conducted in various situations where the drone used to have an error using both SLAM. A result shows that the data obtained from the EKF remains normal in various situations.
Innovation Aviation & Aerospace Industry - International Conference 2020, 2020
The angle of attack (AOA) is an important parameter for estimating aerodynamic
parameter the per... more The angle of attack (AOA) is an important parameter for estimating aerodynamic
parameter the performance and stability of aircraft. Currently, AOA sensors are used in general aircraft. However, there is no reasonable-price AOA sensor that is compatible with small fixed-wing unmanned aerial vehicles (UAVs). This research aims to design and construct an angle of attract (AOA) sensor for small fixed-wing unmanned aircraft. Mechanism Design, similar to aerodynamic wheatear vane, can operate in airspeed 10–30 m/s. The direction of the airfoil aligns with the airflow direction. When the AOA of the UAV changes, the airflow changes direction, resulting in the change of airfoil direction. The high-resolution rotary encoder, used to measure the angle of the airfoil, was installed with the fin airfoil. For the experiment, the accuracy of
the AOA sensor was validated by comparing the angles obtained from the encoder with the standard rotary table in static and wind tunnel. Finally, the AOA sensor, which was attached to the aircraft, was verified and recorded in the flight test. As the results of the measurement, the airfoil angles detected by the encoder were in good agreement with the standard angles.
2017 3rd International Conference on Control, Automation and Robotics (ICCAR), 2017
This paper presents a methodology to implement a flight control system based on PID control desig... more This paper presents a methodology to implement a flight control system based on PID control design for PX4 autopilot system. The objective of the method is to find out the optimal controller gains on the same control structure of PX4 flight stack software without iterative controller tuning. This is achieved through a two-step procedure which consist of aircraft system identification and PID optimized control design. The first step to implement an autopilot system on an Unmanned Aerial Vehicle (UAV) relates to characterizing the UAV's dynamics using a mathematical model. To accomplish the accuracy of the particular UAV control, the process of system identification, which is the estimation of the parameters of the equation of motion, is essential. The measurement of inputs and outputs during manual flight is utilized to determine the unknown parameters of SISO mathematical model using a software of comprehensive identification from frequency responses. Subsequently, the model is ...
2018 Third International Conference on Engineering Science and Innovative Technology (ESIT), 2018
This paper presents methodology to determine
dynamic models and the suitable controllers for FY4... more This paper presents methodology to determine
dynamic models and the suitable controllers for FY450 Firefly
quadcopter. Frequency response system identification technique
via software package Comprehensive Identification from
Frequency Response (CIFER) was applied in this research.
Pixhawk hardware with PX4 Flight stack firmware was
implemented as a flight controller. The measurement of inputs
and outputs during hovering flight maneuver with frequency
sweep input was utilized to determine the unknown parameters
of SISO mathematical model. Then after mathematical models
were identified, the dynamic models of roll, pitch and yaw
response respectively were employed to tuning the gains of PX4
controller structure with globally offline optimization technique.
With this presented method, satisfied flight dynamics meets the
desired performances without the requirement of numerous inflight tuning.
This study presents the conceptual design of fixed wing battery-powered UAV, designed to carry an... more This study presents the conceptual design of fixed wing battery-powered UAV, designed to carry an Automated External Defibrillator (AED) or any 1.5 kg of payload. This aircraft has abilities not only to takeoff , landing or hover as multirotor aircraft but also to cruise similar to the fixed wing aircraft leads to reach the high speed and endurance without additional rotor-tilting mechanism. The new UAV type is called the hybrid UAV. Follow by the hybrid UAV concepts, the design process was initiated by estimating maximum takeoff weight. Battery weight and capacity were then estimated from fixed wing and multirotor power required. Moreover, the subsystem of propulsion including propeller, coaxial rotor, motor, ESC and battery were reviewed and discussed. Constant power method was adopted to improve accuracy of the range and the endurance estimation of battery-powered aircraft instead of constant voltage method. In order to match the mission requirements and obtain the design space, the preliminary sizing was established. Computational fluid dynamics is not yet studied in this work. Finally, the conceptual design results, the effect of takeoff velocity to energy consumption and energy management were presented and consulted.
2017 3rd International Conference on Control, Automation and Robotics (ICCAR), 2017
This paper presents a methodology to implement a flight control system based on PID control desig... more This paper presents a methodology to implement a flight control system based on PID control design for PX4 autopilot system. The objective of the method is to find out the optimal controller gains on the same control structure of PX4 flight stack software without iterative controller tuning. This is achieved through a two-step procedure which consist of aircraft system identification and PID optimized control design. The first step to implement an autopilot system on an Unmanned Aerial Vehicle (UAV) relates to characterizing the UAV's dynamics using a mathematical model. To accomplish the accuracy of the particular UAV control, the process of system identification, which is the estimation of the parameters of the equation of motion, is essential. The measurement of inputs and outputs during manual flight is utilized to determine the unknown parameters of SISO mathematical model using a software of comprehensive identification from frequency responses. Subsequently, the model is utilized for an optimization-based tuning of these PID controller gains offline in order to minimize the requirement of numerous in-flight tuning. The controller is implemented on PX4 autopilot system. The results are demonstrated that the tracking control system has excellent dynamic performance in respect of simple design, high precision, and easy implement.
2022 19th International Joint Conference on Computer Science and Software Engineering (JCSSE), 2022
This research presents the method to improve the robustness of indoor UAV localization via fusion... more This research presents the method to improve the robustness of indoor UAV localization via fusion of visual SLAM and Lidar SLAM with Extended Kalman Filter (EKF). The visual and Lidar SLAM methodologies are applied to compensate for different pose errors in various situations, such as various lighting and reflection, respectively. In the experiment, Lidar and a stereo camera with SLAM methods are installed on the drone. When starting SLAM both methods will localize and provide position and orientation data. The data will be fused by Extended Kalman Filter and provides updated data. Therefore, if there is an error in either of the SLAM methods, the system will continue to work properly. In the test, the drone was conducted in various situations where the drone used to have an error using both SLAM. A result shows that the data obtained from the EKF remains normal in various situations.
Innovation Aviation & Aerospace Industry - International Conference 2020, 2020
The angle of attack (AOA) is an important parameter for estimating aerodynamic
parameter the per... more The angle of attack (AOA) is an important parameter for estimating aerodynamic
parameter the performance and stability of aircraft. Currently, AOA sensors are used in general aircraft. However, there is no reasonable-price AOA sensor that is compatible with small fixed-wing unmanned aerial vehicles (UAVs). This research aims to design and construct an angle of attract (AOA) sensor for small fixed-wing unmanned aircraft. Mechanism Design, similar to aerodynamic wheatear vane, can operate in airspeed 10–30 m/s. The direction of the airfoil aligns with the airflow direction. When the AOA of the UAV changes, the airflow changes direction, resulting in the change of airfoil direction. The high-resolution rotary encoder, used to measure the angle of the airfoil, was installed with the fin airfoil. For the experiment, the accuracy of
the AOA sensor was validated by comparing the angles obtained from the encoder with the standard rotary table in static and wind tunnel. Finally, the AOA sensor, which was attached to the aircraft, was verified and recorded in the flight test. As the results of the measurement, the airfoil angles detected by the encoder were in good agreement with the standard angles.
2017 3rd International Conference on Control, Automation and Robotics (ICCAR), 2017
This paper presents a methodology to implement a flight control system based on PID control desig... more This paper presents a methodology to implement a flight control system based on PID control design for PX4 autopilot system. The objective of the method is to find out the optimal controller gains on the same control structure of PX4 flight stack software without iterative controller tuning. This is achieved through a two-step procedure which consist of aircraft system identification and PID optimized control design. The first step to implement an autopilot system on an Unmanned Aerial Vehicle (UAV) relates to characterizing the UAV's dynamics using a mathematical model. To accomplish the accuracy of the particular UAV control, the process of system identification, which is the estimation of the parameters of the equation of motion, is essential. The measurement of inputs and outputs during manual flight is utilized to determine the unknown parameters of SISO mathematical model using a software of comprehensive identification from frequency responses. Subsequently, the model is ...
2018 Third International Conference on Engineering Science and Innovative Technology (ESIT), 2018
This paper presents methodology to determine
dynamic models and the suitable controllers for FY4... more This paper presents methodology to determine
dynamic models and the suitable controllers for FY450 Firefly
quadcopter. Frequency response system identification technique
via software package Comprehensive Identification from
Frequency Response (CIFER) was applied in this research.
Pixhawk hardware with PX4 Flight stack firmware was
implemented as a flight controller. The measurement of inputs
and outputs during hovering flight maneuver with frequency
sweep input was utilized to determine the unknown parameters
of SISO mathematical model. Then after mathematical models
were identified, the dynamic models of roll, pitch and yaw
response respectively were employed to tuning the gains of PX4
controller structure with globally offline optimization technique.
With this presented method, satisfied flight dynamics meets the
desired performances without the requirement of numerous inflight tuning.
This study presents the conceptual design of fixed wing battery-powered UAV, designed to carry an... more This study presents the conceptual design of fixed wing battery-powered UAV, designed to carry an Automated External Defibrillator (AED) or any 1.5 kg of payload. This aircraft has abilities not only to takeoff , landing or hover as multirotor aircraft but also to cruise similar to the fixed wing aircraft leads to reach the high speed and endurance without additional rotor-tilting mechanism. The new UAV type is called the hybrid UAV. Follow by the hybrid UAV concepts, the design process was initiated by estimating maximum takeoff weight. Battery weight and capacity were then estimated from fixed wing and multirotor power required. Moreover, the subsystem of propulsion including propeller, coaxial rotor, motor, ESC and battery were reviewed and discussed. Constant power method was adopted to improve accuracy of the range and the endurance estimation of battery-powered aircraft instead of constant voltage method. In order to match the mission requirements and obtain the design space, the preliminary sizing was established. Computational fluid dynamics is not yet studied in this work. Finally, the conceptual design results, the effect of takeoff velocity to energy consumption and energy management were presented and consulted.
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Papers by Watcharapol Saengphet
parameter the performance and stability of aircraft. Currently, AOA sensors are used in general aircraft. However, there is no reasonable-price AOA sensor that is compatible with small fixed-wing unmanned aerial vehicles (UAVs). This research aims to design and construct an angle of attract (AOA) sensor for small fixed-wing unmanned aircraft. Mechanism Design, similar to aerodynamic wheatear vane, can operate in airspeed 10–30 m/s. The direction of the airfoil aligns with the airflow direction. When the AOA of the UAV changes, the airflow changes direction, resulting in the change of airfoil direction. The high-resolution rotary encoder, used to measure the angle of the airfoil, was installed with the fin airfoil. For the experiment, the accuracy of
the AOA sensor was validated by comparing the angles obtained from the encoder with the standard rotary table in static and wind tunnel. Finally, the AOA sensor, which was attached to the aircraft, was verified and recorded in the flight test. As the results of the measurement, the airfoil angles detected by the encoder were in good agreement with the standard angles.
dynamic models and the suitable controllers for FY450 Firefly
quadcopter. Frequency response system identification technique
via software package Comprehensive Identification from
Frequency Response (CIFER) was applied in this research.
Pixhawk hardware with PX4 Flight stack firmware was
implemented as a flight controller. The measurement of inputs
and outputs during hovering flight maneuver with frequency
sweep input was utilized to determine the unknown parameters
of SISO mathematical model. Then after mathematical models
were identified, the dynamic models of roll, pitch and yaw
response respectively were employed to tuning the gains of PX4
controller structure with globally offline optimization technique.
With this presented method, satisfied flight dynamics meets the
desired performances without the requirement of numerous inflight tuning.
Keywords: Conceptual design, Hybrid UAV, VTOL, battery-powered UAV, Constant power method
parameter the performance and stability of aircraft. Currently, AOA sensors are used in general aircraft. However, there is no reasonable-price AOA sensor that is compatible with small fixed-wing unmanned aerial vehicles (UAVs). This research aims to design and construct an angle of attract (AOA) sensor for small fixed-wing unmanned aircraft. Mechanism Design, similar to aerodynamic wheatear vane, can operate in airspeed 10–30 m/s. The direction of the airfoil aligns with the airflow direction. When the AOA of the UAV changes, the airflow changes direction, resulting in the change of airfoil direction. The high-resolution rotary encoder, used to measure the angle of the airfoil, was installed with the fin airfoil. For the experiment, the accuracy of
the AOA sensor was validated by comparing the angles obtained from the encoder with the standard rotary table in static and wind tunnel. Finally, the AOA sensor, which was attached to the aircraft, was verified and recorded in the flight test. As the results of the measurement, the airfoil angles detected by the encoder were in good agreement with the standard angles.
dynamic models and the suitable controllers for FY450 Firefly
quadcopter. Frequency response system identification technique
via software package Comprehensive Identification from
Frequency Response (CIFER) was applied in this research.
Pixhawk hardware with PX4 Flight stack firmware was
implemented as a flight controller. The measurement of inputs
and outputs during hovering flight maneuver with frequency
sweep input was utilized to determine the unknown parameters
of SISO mathematical model. Then after mathematical models
were identified, the dynamic models of roll, pitch and yaw
response respectively were employed to tuning the gains of PX4
controller structure with globally offline optimization technique.
With this presented method, satisfied flight dynamics meets the
desired performances without the requirement of numerous inflight tuning.
Keywords: Conceptual design, Hybrid UAV, VTOL, battery-powered UAV, Constant power method