Reliability of unmanned aircraft is a decisive factor for conducting air tasks in a controlled airspace. One of the means of improving unmanned aircraft reliability is reconfiguration of the control system, which will allow to maintain control over the aircraft despite an occurring failure. The control system is reconfigured by using still operational control surfaces to compensate for failure consequences and to control the damaged aircraft. Development of effective reconfiguration algorithms involves utilization of a non-linear model of unmanned aircraft dynamics, in which each control surface deflection can be controlled independently.
The paper describes a non-linear model of a small unmanned aircraft with decoupled control surfaces. The paper discusses aircraft flight dynamics equations and estimated equations for controllability derivatives for each control surface, the results of comparison tests of the model and actual aircraft as well as the structure of the simulation model. The developed unmanned aircraft model may be used in development and in optimization of control algorithms for aircraft with damaged control systems as well as to test the impact of failures on dynamic properties of the aircraft.
If the inline PDF is not rendering correctly, you can download the PDF file here.
 Goetzendorf-Grabowski T. Frydrychewicz A. Goraj Z. et al. 2006 “MALE UAV design of an increased reliability level” Aircraft Engineering and Aerospace Technology: An International Journal vol. 78 No 3 pp. 226-235.
 Lin X. Fulton N. and Horn M. 2014 “Quantification of high level safety criteria for civil unmanned aircraft systems” Proceedings of IEEE Aerospace Conference Big Sky pp. 1-13.
 Loh R. Bian Y. and Roe T. 2009 “UAVs in civil airspace: Safety requirements” IEEE Aerospace and Electronic Systems Magazine vol. 24 January pp. 5-17.
 Goraj Z. 2014 “A specialized UAV for surveillance in windy turbulent environment of the Antarctic coast” Proceedings of the 29th Congress of the International Council of the Aeronautical Sciences Vol I-VI Curran Associates Inc pp. 1-13.
 Goraj Z. Ransom P. Wagstaff P. 2002 “From Specification & Design Layout to Control Law Development for Unmanned Aerial Vehicles – Lessons Learned from Past Experience” Proceedings of European Workshop on Aircraft Design Education Institute of Technology Linkopings Universitet pp. 17-21.
 Steinberg M. 2005 “A historical overview of research in reconfigurable flight control” Proceedings of the Institution of Mechanical Engineers Part G: Journal of Aerospace Engineering vol. 219 April pp. 263-275.
 Kozak V. Shevchuk D. Vovk V. and Levchenko M. 2014 “Automation of aircraft control reconfiguration in flight special situations” Proceedings of IEEE 3rd International Conference on Methods and Systems of Navigation and Motion Control Kiev pp. 14-17.
 Yang Z. Hua S. Hongzhuan Q. and Chengrui L. 2010 “Control reconfigurability of nonlinear system based on control redundancy” 10th IEEE International Conference on Industrial Informatics (INDIN) Beijing pp. 815-820.
 Burcham B. 1997 “Landing safely when flight controls fail.” Aerospace America pp. 20-23.
 Zugaj M. Bibik P. and Jacewicz M. 2016 “UAV aircraft model for control system failures analysis” Journal of Theoretical and Applied Mechanics vol 54 No. 4 pp. 1405-1415.
 Cooper G. and Harper R. 1969 The Use of Pilot Rating in the Evaluation of Aircraft Handling Qualities” Technical Report TN D-5153 NASA Ames Research Center Moffet Field CAUSA.
 Nizioł J. 2005 Dynamika układów mechanicznych (Dynamics of mechanical systems) Komitet Mechaniki PAN (Mechanics Committee of PAN). Instytut Podstawowych Problemów Techniki Polskiej Akademii Nauk (Institute of Fundamental Technological Problems of the Polish Academy of Sciences) Warsaw.
 Goraj Z. 2014 “Flight dynamics models used in different national and internationals projects” Aircraft Engineering and Aerospace Technology Volume: 86 Issue: 3.
 Zugaj M. and Narkiewicz J. 2009 “Autopilot for reconfigurable flight control system” ASCE Journal of Aerospace Engineering vol. 22 January pp. 78-84.
 PN-ISO 1152-1:2014 chapter 126.96.36.199.
 Figat M. Goetzendorf-Grabowski T. Goraj Z. 2005 “Aerodynamic calculation of unmanned aircraft” Aircraft Engineering and Aerospace Technology vol. 77 No 6 pp. 467-474.
 Goetzendorf-Grabowski T. and Figat M. “Aerodynamic and stability analysis of personal vehicle in tandem-wing configuration” Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering SAGE Publications vol. on-line 2016 ss. 1-17.
 Analytical Methods a Division of Stark Aerospace Inc. from http://www.ami.aero/softwarecomputing/amis-computational-fluid-dynamics-tools/mgaero/
 XFLR5 from http://www.xflr5.com/xflr5.htm
 XFOIL Subsonic Airfoil Development System from http://web.mit.edu/drela/Public/web/xfoil/
 Goraj Z. and Cichocka E. 2016 “Influence of weak and strong gyroscopic effects on light aircraft dynamics” Aircraft Engineering and Aerospace Technology Vol. 88 Issue: 5 pp. 613-622.
 Jategaonkar R. V. 2006 Flight Vehicle System Identification A Time Domain Methodology American Institute of Aeronautics and Astronautics Reston Virginia.
 Yechout T. R. 2003 Introduction to Aircraft Flight Mechanics: Performance Static Stability Dynamic Stability and Classical Feedback Control American Institute of Aeronautics and Astronautics Reston Virginia.
 Bibik P. Zasuwa M. and Żugaj M. 2013 “Research and training simulator of unmanned quadrotor” 18th IEEE International Conference on Methods and Models in Automation and Robotics Międzyzdroje pp. 403-407.