tag:blogger.com,1999:blog-23266568457421209082024-03-13T07:46:23.870-07:00Endri & UAVendri dan uavhttp://www.blogger.com/profile/11284332496571924229noreply@blogger.comBlogger3125tag:blogger.com,1999:blog-2326656845742120908.post-82165421492257221012011-11-19T07:04:00.000-08:002011-11-19T07:04:38.698-08:00Hardware In The Loop Simulator (HILS) for Unmanned System<div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div class="separator" style="clear: both; text-align: center;"></div><div align="center" class="CM10" style="line-height: 115%; text-align: center;"><span style="font-size: large;"><b><span style="color: black; font-family: "Arial Narrow","sans-serif";">By : Dipl.-Ing. Endri Rachman</span></b></span></div><div align="center" class="CM10" style="line-height: 115%; text-align: center;"></div><div align="center" class="CM10" style="line-height: 115%; text-align: center;"><span style="font-size: small;"><br />
</span></div><div class="CM10" style="line-height: 115%; text-align: justify;"><span style="font-size: large;"><b><u><span style="color: black; font-family: "Arial Narrow","sans-serif";">Introduction & Objective</span></u></b></span></div><div class="CM10" style="line-height: 115%; text-align: justify;"><span style="font-size: large;"><b><u><span style="color: black; font-family: "Arial Narrow","sans-serif";"><br />
</span></u></b></span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;">Autonomous motions of an unmanned system, like the guided missile, the aircraft equipped with autopilot, the UAV, the underwater, are controlled and navigated by an embedded controller hosting the autonomous algorithms/ flight control laws. During the development process, the embedded controller must be tested in laboratory environment using so called Hardware In-The-Loop Simulator (HILS) before entering the testing in the real flight, see figure 1.</span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;"> </span></div><div class="separator" style="clear: both; text-align: center;"><span style="font-size: large;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZaHWz-FnkC9xbzXjIyM4Wjo5oVJX4_Vn0My0YO95mehh8UEzIm7T0t_mZep7rgY_bYT7_XgUCgvlffUVPLee54pL_122CU_MPUJNcmxsjcbqkC1CYIiRnpmpqAd_ieZFBljiNez9D3ERQ/s1600/design+and+development+of+autopilot+for+uav+tamingsari..png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="388" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZaHWz-FnkC9xbzXjIyM4Wjo5oVJX4_Vn0My0YO95mehh8UEzIm7T0t_mZep7rgY_bYT7_XgUCgvlffUVPLee54pL_122CU_MPUJNcmxsjcbqkC1CYIiRnpmpqAd_ieZFBljiNez9D3ERQ/s640/design+and+development+of+autopilot+for+uav+tamingsari..png" width="640" /></a></span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;"> Figure 1 : Step by Step procedure in designing and developing the autonomous algorithms for UAV's Autopilot.</span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="font-size: large;"><br />
</span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;">The HILS allows the testing of the autonomous control laws regarding their mission functionality, their operational scenario, and their robustness against changing parameter. Although HILS can’t replace the testing of embedded controller in the real flight condition, it measurably reduces the likelihood of controller’s failure by detecting bugs and deficiencies of the control laws in the laboratory. Hence, the risk of unmanned system’s failure and its associated danger the people, property, and the infrastructure during the flight can be avoided . </span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="font-size: large;"><br />
</span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;">To facilitate such difficult and complex functions, a low cost and unique HILS for Unmanned System has been designed and developed, see figure 2. This HILS is versatile so that it can be applied on any unmanned system. </span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="font-size: large;"><br />
</span></div><div class="separator" style="clear: both; text-align: center;"><span style="font-size: large;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhIJZ6RpPzj5ah1Bizx6y1lOVZxnCecq8C5-lYL0tuVjO-CBJ7UbwH8Zjcezi9Oc3-6KQYddfem0sGNqidn0ejajrWRsqh9-uH4Bfu3z2HPmollu8TQMqEca-Fa-AtwmNu4lPuhcdbMgc78/s1600/gambar+fisik+HILS.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="480" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhIJZ6RpPzj5ah1Bizx6y1lOVZxnCecq8C5-lYL0tuVjO-CBJ7UbwH8Zjcezi9Oc3-6KQYddfem0sGNqidn0ejajrWRsqh9-uH4Bfu3z2HPmollu8TQMqEca-Fa-AtwmNu4lPuhcdbMgc78/s640/gambar+fisik+HILS.png" width="640" /></a></span></div><div class="CM10" style="line-height: 115%; text-align: justify; text-indent: 36pt;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;"> </span></div><div class="MsoNormal" style="text-align: center;"><span style="font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;">Figure 2 : Set-up of HILS for Unmanned System</span></div><div class="MsoNormal"><span style="font-size: large;"><b><u><span style="font-family: "Arial Narrow","sans-serif"; line-height: 115%;"> </span></u></b></span></div><div class="MsoNormal"><br />
<span style="font-size: large;"><b><u><span style="font-family: "Arial Narrow","sans-serif"; line-height: 115%;">Capabilities</span></u></b></span></div><div class="MsoNormal"><span style="font-size: large;"><b><u><span style="font-family: "Arial Narrow","sans-serif"; line-height: 115%;"><br />
</span></u></b></span></div><div class="MsoNormal"><span style="font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;">In order to achieve the above objective, HILS for Unmanned System has following capabilities, see figure 3 :</span></div><ul><li><span style="font-family: "Arial Narrow","sans-serif"; font-size: large;">Doing rapid prototyping of the controller (running the flight controller in real time )</span><span style="font-family: Symbol; font-size: large;"><span style="-moz-font-feature-settings: normal; -moz-font-language-override: normal; font-family: "Times New Roman"; font-size-adjust: none; font-stretch: normal; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;"> </span></span></li>
<li><span style="font-family: Symbol; font-size: large;"><span style="-moz-font-feature-settings: normal; -moz-font-language-override: normal; font-family: "Times New Roman"; font-size-adjust: none; font-stretch: normal; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;"> </span></span><span style="font-family: "Arial Narrow","sans-serif"; font-size: large;">Producing the real-time flight of aircraft in quasi real 3D-flight environment,</span></li>
</ul><ul><li><span style="font-family: "Arial Narrow","sans-serif"; font-size: large;">Displaying the flight information as real as possible in cockpit- format</span></li>
<li><span style="font-family: "Arial Narrow","sans-serif"; font-size: large;">Mapping the aircraft position </span><span style="font-family: Symbol; font-size: large;"><span style="-moz-font-feature-settings: normal; -moz-font-language-override: normal; font-family: "Times New Roman"; font-size-adjust: none; font-stretch: normal; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;"> </span></span></li>
<li><span style="font-family: Symbol; font-size: large;"><span style="-moz-font-feature-settings: normal; -moz-font-language-override: normal; font-family: "Times New Roman"; font-size-adjust: none; font-stretch: normal; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;"> </span></span><span style="font-family: "Arial Narrow","sans-serif"; font-size: large;">Managing different useful signals/ information seamlessly</span></li>
</ul><div class="separator" style="clear: both; text-align: center;"><span style="font-size: large;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj477TLuE5Jqa5PrOqbmZGlBJyS2ktBBs8KxOiIzBE2-vbpkFYVRAmJq5F7IpDAG6znnd9H3X4mjFCVo_YRX1fqNs5CLQsbpT0DxRcM501nqmKgoVBtW9HkugX6rKubE6GBWOW8R7VKW6tT/s1600/HILS+capability.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="424" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEj477TLuE5Jqa5PrOqbmZGlBJyS2ktBBs8KxOiIzBE2-vbpkFYVRAmJq5F7IpDAG6znnd9H3X4mjFCVo_YRX1fqNs5CLQsbpT0DxRcM501nqmKgoVBtW9HkugX6rKubE6GBWOW8R7VKW6tT/s640/HILS+capability.png" width="640" /></a></span></div><div style="text-align: center;"><span style="font-size: large;"> Figure 3: Monitor displays of HILS</span></div><div class="MsoNormal" style="line-height: normal; margin-bottom: 0cm;"><span style="font-size: large;"><b><u><span style="font-family: "Arial Narrow","sans-serif";"><span style="text-decoration: none;"><br />
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</span></u></b></span></div><div class="MsoNormal"><span style="font-size: large;"><b><u><span style="font-family: "Arial Narrow","sans-serif"; line-height: 115%;">Novelty</span></u></b></span></div><div class="MsoNormal"><span style="font-size: large;"><b><u><span style="font-family: "Arial Narrow","sans-serif"; line-height: 115%;"><br />
</span></u></b></span></div><div class="CM10" style="line-height: 115%; text-align: justify;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large; line-height: 115%;">This HILS has used a latest ICT technology, namely Grid Computing Technology. Instead of using one very expensive Super Computer to implement the capabilities mentioned above, this HILS uses four low cost computers connected to each other using Internet/ Local Area Network and serial communication RS232. Each computer has own unique IP address and plays different roles, see Figure 4: </span></div><ul><li><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">1<sup>st</sup> Computer is a real time target controller/ embedded controller PC 104/+ . It serves as a real-time flight controller hosting the autonomous control laws. </span></li>
<li><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">2<sup>nd</sup> Computer is a real-time target simulator producing the flight motion/sensor data during the flight.</span></li>
<li><span style="color: black; font-family: Symbol; font-size: large;">3</span><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;"><sup>rd</sup> Computer is a Host Simulator used for visualizing the flight of the aircraft in 3D – real flight environment, for displaying the flight information on the standard six cockpit’s display panels, for controlling the flight operation of the aircraft and for down-loading the model of the aircraft dynamics model into the real time flight simulator.</span><span style="color: black; font-family: Symbol; font-size: large;"><span style="-moz-font-feature-settings: normal; -moz-font-language-override: normal; font-family: "Times New Roman"; font-size-adjust: none; font-stretch: normal; font-style: normal; font-variant: normal; font-weight: normal; line-height: normal;"> </span></span></li>
<li><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">4<sup>th </sup> Computer is a Host controller. It is used for down loading the autonomous flight control law into the target controller/ embedded controller PC 104/+ and for mapping the aircraft position using the </span><span style="font-family: "Arial Narrow","sans-serif"; font-size: large;">Google-earth</span><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">. </span></li>
</ul><div class="separator" style="clear: both; text-align: center;"><span style="font-size: large;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgyyF-4vIvQz59SzPKeC1gDw3KohgAZ7XsuT_1qyTnQ-D-W4vVloJ42YskG7c0SQYr3Z_wkEcFsYWuDM7bj8Rgjzu1c_7HyX4sT8Km_sdy3pXKqqJeDjGLKFsJU85-_uaPfLU-yhatIR8j/s1600/architecture+hils.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="412" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhgyyF-4vIvQz59SzPKeC1gDw3KohgAZ7XsuT_1qyTnQ-D-W4vVloJ42YskG7c0SQYr3Z_wkEcFsYWuDM7bj8Rgjzu1c_7HyX4sT8Km_sdy3pXKqqJeDjGLKFsJU85-_uaPfLU-yhatIR8j/s640/architecture+hils.png" width="640" /></a></span></div><div class="CM4" style="text-align: center;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">Figure 4: System architecture of HILS for Unmanned System </span></div><div class="CM4" style="text-align: justify;"><span style="font-size: large;"><br />
</span></div><div class="CM4" style="text-align: justify;"><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">There are three types of communication protocols used to exchange data/information between the computers: </span></div><ul><li><span style="color: black; font-family: Symbol; font-size: large;">t</span><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">he internet protocols TCP/IP are utilized for downloading the equation of motion (dynamic model) from the host simulator into the target simulator, the control laws from the host controller into the target controller/ embedded controller PC 104/+. </span></li>
</ul><ul><li><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">the internet protocols UDP/IP are used to exchange their data between the host simulator and the target simulator . </span></li>
</ul><ul><li><span style="color: black; font-family: "Arial Narrow","sans-serif"; font-size: large;">the Serial communication RS232 is applied for exchange sensor and actuator data between the target simulator and the target controller/ embedded controller in real-time. </span></li>
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<span style="font-size: large;"><b><span style="color: black; font-family: "Arial Narrow","sans-serif";">Awards for HILS</span></b></span><br />
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<div class="separator" style="clear: both; text-align: center;"><span style="font-size: large;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjuQMQeSWF5SxyQ2Pz15OIMGpcXHeNjl5Iz2bLxuXZHgmS-OpaFqz33ROBblXThb2ttPEjZmIOtTFx2isvYO6Wjt6ZIaSWDIRsfQLexFwpmTFD-MrshfjmT1xHm0Xkc4XD2aJe8PonRZGRT/s1600/best+award+for+HILS.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="320" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjuQMQeSWF5SxyQ2Pz15OIMGpcXHeNjl5Iz2bLxuXZHgmS-OpaFqz33ROBblXThb2ttPEjZmIOtTFx2isvYO6Wjt6ZIaSWDIRsfQLexFwpmTFD-MrshfjmT1xHm0Xkc4XD2aJe8PonRZGRT/s320/best+award+for+HILS.png" width="213" /></a></span><a class="cssButton" href="javascript:void(0)" id="previewButton" onclick="void(0);" target=""></a></div><div class="cssButtonOuter"><div class="cssButtonMiddle"><div class="cssButtonInner"><a class="cssButton" href="javascript:void(0)" id="previewButton" onclick="void(0);" target="">Preview</a></div></div></div><br />
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<ul><li><span style="font-size: large;">The Malaysian Association of Research Scientist has awarded <b>the best -award and the gold medal</b> during the 7<sup>th</sup> –Invention and Innovation Competition for the category “aerospace and aviation with the product “ Hardware In-The Loop Simulator for Unmanned System” regarding Malaysia Technology Exhibition (MTE) 2009</span><span style="font-size: large;"> on February</span><span style="font-size: large;"> 29 – 21, at Putra World Trade Centre</span><span style="font-size: large;"> in Kuala Lumpur - Malaysia .</span><span style="font-size: large;"> </span></li>
</ul><ul><li><span style="font-size: large;">The International jury of IENAhas awarded the bronze medal for the product during the international trade fair "Ideas-Inventions-New Products" -IENA 2009, on November 7, 2009 , Nurenberg -Germany .</span><span style="font-size: large;"> </span></li>
</ul>endri dan uavhttp://www.blogger.com/profile/11284332496571924229noreply@blogger.com1tag:blogger.com,1999:blog-2326656845742120908.post-2378250156765091552011-11-19T01:18:00.000-08:002011-11-19T01:18:49.717-08:00Unmanned Aerial Vehicle (UAV) KUJANG (bagian Pertama : Umum)<div style="text-align: center;"><span style="font-size: large;"><b><span style="font-size: small;"><span style="font-size: large;">Oleh : Dipl. -Ing. Endri Rachman </span></span></b></span></div><span style="font-size: large;"><b><span style="font-size: small;"> </span> </b></span><br />
<span style="font-size: large;"><b>Pendahuluan</b></span><br />
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<div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Disebabkan kemampuannya melihat sesuatu dari udara, Unmanned Aerial Vehicle (UAV) atau dalam bahasa Indonesianya, pesawat terbang tanpa awak (PTTA), dipergunakan baik oleh kalangan militer atau pihak sipil. Aplikasi UAV dalam bidang militer antara lain di gunakan sebagai pesawat pengintai atau mata-mata untuk melihat kegiatan pihak lawan, intrastuktur dan peralatan tempur yg dimiliki pihak lawan (lihat gambar 1). Dalam bidang sipil, UAV digunakan untuk pemetaan, pemantauan lalu lintas kendaraan di jalan, monitor dan pengukuran pencemaran udara, pemantauan daerah perbatasan, komunikasi, monitor pipa minyak, gas dan juga kawat listrik PLN, SAR, peyemprotan pupuk/peptisida dari udara, pencarian tempat-tempat pemboran minyak, perikanan, dan lain-lain.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9BkdHGKQsW53In-stnRq31eq3HadxsY0FhxzxrJ66LMNrBOuHZpPEYE2ZnJnieDMlNyI61iLEdKWBISHruRoOvoCvkQh5Tbq9dGbQlNozMcyqXKOAbiuW-n03EIj4Lc5RY-ZqCcV6IcGn/s1600/spying+UAV.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="512" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEi9BkdHGKQsW53In-stnRq31eq3HadxsY0FhxzxrJ66LMNrBOuHZpPEYE2ZnJnieDMlNyI61iLEdKWBISHruRoOvoCvkQh5Tbq9dGbQlNozMcyqXKOAbiuW-n03EIj4Lc5RY-ZqCcV6IcGn/s640/spying+UAV.png" width="640" /></a></div><br />
</div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"></div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;">Gambar 1: Salah satu aplikasi UAV dalam bidang militer</div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;">UAV atau pesawat terbang tanpa awak (PTTA) di definisikan sebagai pesawat terbang tanpa pilot yang digerakkan dengan bantuan sistem propulsi/ mesin kipas (propeller) atau mesin jet dan dilengkapi dengan payload, seperti video kamera FLIR, yg digunakan untuk melihat permukaan bumi dari udara. Pesawat ini kendalikan secara manual dengan bantuan remote control , atau/dan di kendalikan oleh sebuah komputer kecil (autopilot) yg dipasang didalam badan pesawat tersebut. Jika UAV ini dikendalikan oleh komputer, pesawat ini bisa terbang dengan sendirinya tanpa bantuan juru terbang, karena di dalam hardware autopilot itu berisi logika-logika terbang yg mengatur secara atomatis bagaimana pesawat itu terbang. </div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><br />
</div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;">Seorang operator yg berada di station kendali di darat (ground control station GCS) memberikan perintah-perintah terbang, seperti arah terbang, kecepatan terbang, ketinggian terbang, route dan tujuan penerbangan kepada UAV itu. Perintah-perintah terbang di kirim menggunakan gelombang radio melalui sistem telemetri yg menghubungkan UAV tersebut dengan operator di darat. Selain operator yg memberikan perintah-perintah terbang, terdapat satu lagi operator yg mengendalikan kamera yg bergerak. Gambar diam atau gambar video yg berhasil di tangkap oleh kamera tsb secara waktu nyata (real time) dikirim kembali ke station kendali darat GCS. Melalui monitor, operator tsb dapat melihat permukaan bumi, benda-benda atau aktivitas-aktivitas lainnya, yg terjadi di atas permukaan bumi. </div><div class="MsoNormal" style="text-align: justify; text-indent: 36pt;"> </div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><span lang="DE">Pada umumnya, pesawat terbang tanpa awak dilengkapi dgn sistem avionik baik yg terpasang pada UAV ataupun di luar pesawat UAV (didarat). Sistem avionik terdiri dari beberapa subsistem sepertit autopilot, sistem kendali pesawat (flight control system), sistem navigasi (navigation system) berbasiskan satelit, seperti GPS (gbobal positioing system), beban bayar (payload) seperti kamera, sistem telemetri (telemetry system), sistem sensor penerbangan (flight data sensor) selain station kendali darat (ground control station). Komponen-komponen pesawat tanpa awak ini digambarkan pada gambar 2. </span><br />
</div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEheYT8549G90i03QleAk3ETdbErSw29QBk3TzEjLc_ERRUQGK1VIAqiZ52Yq9SeGTkqCH2u_K9e0tDvKf-pi5UpF6txew1RFLH2M44bhW5UFZeX9fgqrs4walF_2ltY3iKq-CttnsKFj4P8/s1600/avionics+sub+system+uav.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="448" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEheYT8549G90i03QleAk3ETdbErSw29QBk3TzEjLc_ERRUQGK1VIAqiZ52Yq9SeGTkqCH2u_K9e0tDvKf-pi5UpF6txew1RFLH2M44bhW5UFZeX9fgqrs4walF_2ltY3iKq-CttnsKFj4P8/s640/avionics+sub+system+uav.png" width="640" /></a></div><br />
</div><div align="center" class="MsoNormal" style="text-align: center; text-indent: 36.0pt;"><span style="font-family: "Book Antiqua","serif"; font-size: 11pt;"></span><span lang="DE"></span></div><div align="center" class="MsoNormal" style="text-align: center; text-indent: 36.0pt;"><span lang="DE">Gambar 2: Komponen-komponen pesawat terbang tanpa awak.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span style="font-size: large;"><b><span lang="DE">Klasifikasi Pesawat Tanpa Awak</span></b></span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Berdasarkan jarak operasi dan lamanya terbang (operational range and endurance) Departemen Pertahanan Amerika (Pentagon) membagikan pesawat terbang tanpa awak sebagai berikut</span></div><ul><li><span lang="DE" style="font-family: Symbol;"><span style="font: 7pt "Times New Roman";"> </span></span><span lang="DE">Pesawat terbang tanpa awak taktis (tactical unmanned aerial vehicle)</span></li>
<li><span lang="DE" style="font-family: Symbol;"> <span style="font: 7pt "Times New Roman";"> </span></span><span lang="DE">Pesawat terbang tanpa awak enduran (endurance unmanned aerial vehicle)</span></li>
</ul><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Pesawat terbang tanpa awak taktis (the tactical UAV) di disain untuk mendukung seorang komandar tempur taktis dengan kemampuan intelejen mata-mata hingga jarak 200 km. Pesawat taktis ini seolah-olah memperpanjangan pengamatan/penglihatan komandan tempur hingga menjangkau jauh kedalam daerah musuh tanpa perlu mengirim dan mengorbankan nyawa manusia/tentara. Pesawat tanpa awak taktis dibagi dalam dua kelas: Pesawat tanpa awak Jarak Pendek dan pesawat tanpa awak sedang. Pesawat awak pendek beroperasi sehingga kira-kira 50 km dan waktu operasi antara 2- 5 jam, sedang pesawat tanpa awak menengah dapat melakukan penyusupan ke daerah lawan hingga jarak 200 km dengan lamanya terbang 8 sehingga 10 jam. Yang termasuk pesawat tanpa awak jenis ini antara lain Poineer dan Hunter, lihat gambar 3.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhLIFzdMdquCWu9iMRzIk9PH8kPktoL5qCvSOJlN5whigE2c76i8iTwiwp1xcTiTl9WP-Uu1upLTMVsY8hZVmZNefBWqdnrSeK-2CHAvskzzxCKVzWDN8QGpDixnNzZds_RPElGrek2043O/s1600/uav+pioneer.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="434" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhLIFzdMdquCWu9iMRzIk9PH8kPktoL5qCvSOJlN5whigE2c76i8iTwiwp1xcTiTl9WP-Uu1upLTMVsY8hZVmZNefBWqdnrSeK-2CHAvskzzxCKVzWDN8QGpDixnNzZds_RPElGrek2043O/s640/uav+pioneer.png" width="640" /></a></div><br />
<div style="text-align: center;">Gambar 3 : UAV Pioneer</div><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Pesawat terbang tanpa awak enduran (endurance UAV) digunakan untuk jarak operasi terbang yg jauh, waktu terbang yg lama serta ketinggian terbang yg tinggi. Disebabkan karena ukurannya Pesawat ini berlepas dan mendarat hanya dari darat (lapangan terbang), mengudara hingga 24 jam non-stop dan dapat pengirim data gambar dan video secara waktu nyata. UAV Predator dan Global Hawk termasuk dalam katagori Pesawat tanpa awak ini, lihat gambar 4,. Endurance UAV ini dibagi dalam 2 jenis yaitu Medium Altitude Long Endurance (MALE) - UAV dan High Altitude Long Endurance (HALE) - UAV.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjsaXnbVsk86EGB2qJZA5ddouF7X3SLG7AvUcs9FII5x6G3vva2RMUCtPBedCIP6cfHtSHjQXusJyrBd5x6qOc1kfeUlkEALqPJPMKjDX-A82MYKjFQyj3CrLfBVwfCNtybSEQOjsvg8wX4/s1600/uav+hell+fire.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="398" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjsaXnbVsk86EGB2qJZA5ddouF7X3SLG7AvUcs9FII5x6G3vva2RMUCtPBedCIP6cfHtSHjQXusJyrBd5x6qOc1kfeUlkEALqPJPMKjDX-A82MYKjFQyj3CrLfBVwfCNtybSEQOjsvg8wX4/s640/uav+hell+fire.png" width="640" /></a></div><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><div style="text-align: center;"><span lang="DE">Gambar 4 : UAV Predator sedang menembakan peluru kendali.</span></div><span lang="DE"> </span><br />
<span lang="DE">Selain jenis-jenis pesawat terbang tanpa awak yang disebutkan diatas, agensi penelitian projek pertahanan berteknologi tinggi amerika atau yg dikenal dengan DARPA (The defense Advanced Research Projects Agency) saat ini sedang memsponsori program penyelidikan dan pengembangan untuk membangunkan pesawat terbang tanpa awak tempur atau yg dikenal dengan UCAV (Unmanned Combat Aerial Vehicle). Pada Bulan Maret 1999, Perusahaan pesawat terbang terkenal Boeing telah mendapatkan kontrak untuk membuat prototype pesawat terbang tanpa awak tempur yg dikenal dengan The DARPA/Air force X-45 UCAV, lihat gambar 5. </span><br />
<br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1zN4wVSyNzqueyEstPkFtOUYCY1M2VhfzgCL3TOgRL85feePygETzakXiqXBi9ydHj2_18fJoXZhrOnQvUoT8zFxmWHABPwOu3FM4c__80CCjuPhZIdUE_lRc0Hvg9cOmBgwIgC0mTUm6/s1600/ucav+x-45.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="522" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEh1zN4wVSyNzqueyEstPkFtOUYCY1M2VhfzgCL3TOgRL85feePygETzakXiqXBi9ydHj2_18fJoXZhrOnQvUoT8zFxmWHABPwOu3FM4c__80CCjuPhZIdUE_lRc0Hvg9cOmBgwIgC0mTUm6/s640/ucav+x-45.png" width="640" /></a></div><br />
<div style="text-align: center;"><span lang="DE">Gambar 5 : UCAV X-45</span></div><span lang="DE"> </span><br />
<span lang="DE">Tujuan dari UCAV X-45 ini adalah untuk memporakporandakan sistem pertahanan musuh dengan harga sepertiga lebih murah jika menggunakan sebuah pesawat tempur gabungan. Pesawat UCAV X-45 ini mempunyai kemampuan untuk memgugurkan bom secara otomatis didearah pertahanan lawan. </span><br />
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</style> <![endif]--><!--[if gte mso 9]><xml> <o:shapedefaults v:ext="edit" spidmax="1027"/> </xml><![endif]--><!--[if gte mso 9]><xml> <o:shapelayout v:ext="edit"> <o:idmap v:ext="edit" data="1"/> </o:shapelayout></xml><![endif]--> <div class="WordSection1"> <div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span style="font-size: large;"><b><span lang="DE">Pesawat Terbang Tanpa Awak (UAV) “ Kujang“</span></b></span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">UAV Kujang (gambar 6) termasuk ke dalam katagori pesawat terbang tanpa awak taktis karena UAV Kujang dapat terbang selama 2-3 jam non-stop dengan jarak operasi sejauh 50 km. Selain itu pesawat ini dapat terbang dengan kecepatan jelajah sebesar 100 km/jam pada ketinggian 1000 m. UAV Kujang mempunyai berat berlepas sekitar 20 kg dan mampu membawa kamera seberat 5 kg. </span></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><br />
</div></div><span lang="DE" style="font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: DE; mso-bidi-language: AR-SA; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-US;"></span><span lang="DE"></span><div class="WordSection2"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhN91GAYq8zlZgfksRLu1rEI814c9SmUnsQwlQxC_lnVtwd8ZVYF-VDxad50AtjTTeHU6RoGFuLt_AYKRcFr_6E87clfDpr71WrI_iOTngSC7SSCHGUbXXMbRIPg-gxvf8qoOCjW3HeUu-d/s1600/uav+kujang+in+the+air.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="426" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhN91GAYq8zlZgfksRLu1rEI814c9SmUnsQwlQxC_lnVtwd8ZVYF-VDxad50AtjTTeHU6RoGFuLt_AYKRcFr_6E87clfDpr71WrI_iOTngSC7SSCHGUbXXMbRIPg-gxvf8qoOCjW3HeUu-d/s640/uav+kujang+in+the+air.png" width="640" /></a></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span lang="DE"><br />
</span></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span lang="DE"></span></div></div><span lang="DE" style="font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: DE; mso-bidi-language: AR-SA; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-US;"></span><div class="WordSection3"> <div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><span lang="DE">Gambar 6: UAV Kujang</span></div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span lang="DE">UAV Kujang merupakan merupakan UAV yang kedua yang saya disain sendiri dan merupakan modifikasi dari dari UAV Tamingsari. Nama UAV kujang diambil berdasarkan nama keris (senjata) yang digunakan oleh orang-orang sunda yang tinggal di jawa barat. Selain itu, nama UAV Kujang diambil untuk menunjukan bahwa UAV ini dibuat seluruhnya di Bandung (ibukota propinsi Jawa Barat) yang meliputi proses disain, produksi, pemasangan sistem dan juga test terbang. </span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">UAV Kujang di disain dengan misi untuk pemetaan dan pemantauan dari udara seperti foto udara, pemantauan daerah banjir, pemantauan lalulintas kendaraan, pemantauan pencemaran udara, pemantauan daerah bencana tsunami,dll.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div align="center" class="MsoBodyTextIndent" style="text-align: center;"><span lang="DE"></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCp3iykXt3MdaXncmv_UilUWZbswSSUW0a97UcirIkeDF03frgkJsVJKHO9TAmMVu66Iv3_lUXVzNa3Co8fY_PcF2j6W5kYpLYj40eGmfJMv9GxPWwk4la48RlRj4EuVbNYTWV_B2lldtM/s1600/urban+monitoring.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="520" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhCp3iykXt3MdaXncmv_UilUWZbswSSUW0a97UcirIkeDF03frgkJsVJKHO9TAmMVu66Iv3_lUXVzNa3Co8fY_PcF2j6W5kYpLYj40eGmfJMv9GxPWwk4la48RlRj4EuVbNYTWV_B2lldtM/s640/urban+monitoring.png" width="640" /></a></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span lang="DE"> </span></div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><span lang="DE">Gambar 7: Pemantauan dan Pemotretan kawasan perumahandari udara.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Setelah proses disain dan optimisasi, konfigurasi pesawat UAV Kujang adalah sebagai berikut (gambar 8 )</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><ul style="margin-top: 0cm;" type="disc"><li class="MsoNormal" style="mso-list: l0 level1 lfo1; tab-stops: list 36.0pt; text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;">Dimensi : panjang badan 2.5 m, kepak sayap 3 m dan diameter badan pesawat 0.3 m. </span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo1; tab-stops: list 36.0pt; text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;">Konfigurasi airframe: <span style="mso-spacerun: yes;"> </span>badan pesawat ellipse, sayap lurus , ekor kembar dengan bidang kendali elevator di atas <span style="mso-spacerun: yes;"> </span>ekor menegak.</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo1; tab-stops: list 36.0pt; text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;">Pemasangan mesin jenis pusher (di belakang)</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo1; tab-stops: list 36.0pt; text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;">Landing gear: <span style="mso-spacerun: yes;"></span>roda depan dapat di stir, roda belakang tetap . </span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo1; tab-stops: list 36.0pt; text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;">Bahan: komposit serat kaca (fibre glass) untuk seluruh pesawat.</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo1; tab-stops: list 36.0pt; text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;">Mesin : mesin propeller 2 siklus dengan daya 5.5 kuasa kuda.</span></li>
</ul><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span style="mso-spacerun: yes;"> </span><span lang="DE"><span style="mso-spacerun: yes;"> </span></span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHJIyLXtx4XxJAOjnt7LcMcdZimwT9pozvWWD5wuNHir_5qpZMeRguAtZe2Fi7y62ZaMIo2tt7dsDpTuJQ_NvQ3Rxii-nRq7_0O1mSApwVv8bPjFXV4PLUFkoAlLSQmfBEdJSxy54M5ibz/s1600/uav+kujang+on+the+ground.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="220" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiHJIyLXtx4XxJAOjnt7LcMcdZimwT9pozvWWD5wuNHir_5qpZMeRguAtZe2Fi7y62ZaMIo2tt7dsDpTuJQ_NvQ3Rxii-nRq7_0O1mSApwVv8bPjFXV4PLUFkoAlLSQmfBEdJSxy54M5ibz/s640/uav+kujang+on+the+ground.png" width="640" /></a></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><span lang="DE">Gambar 8 : Konfigurasi UAV Kujang </span><b style="mso-bidi-font-weight: normal;"><u><span lang="DE"><br />
</span></u></b></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><b><u><span lang="DE">Sistem Avionik UAV Kujang.</span></u></b></div><div class="MsoBodyTextIndent" style="text-align: justify; text-indent: 0cm;"><span lang="DE"><span style="mso-spacerun: yes;"> </span></span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">UAV Kujang digunakan untuk pemetaan dan pemantauan<span style="mso-spacerun: yes;"> dari </span>udara berjarak jauh, diluar jangkauan mata manusia, maka UAV tersebut harus dapat terbang dengan sendirinya secara otomatis. Untuk jarak yg jauh, seorang operator dari darat tidak bisa mengendalikan UAV Kujang secara langsung. Oleh sebab itu UAV Kujang telah dilengkapi dengan sistem penerbangan otomatis (autopilot) jarak jauh dan sistem kendali darat (ground control station). </span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Sistem avionik UAV Kujang terdiri dari beberapa komponen, yaitu<span style="mso-spacerun: yes;"> </span>autopilot hardware yg mengandungi <span style="mso-spacerun: yes;"> </span>jenis-jenis logika terbang otomatis (autopilot mode), sistem navigasi berbasiskan satelit GPS (ground positioning system), sistem pengendalian pesawat berbasiskan RC ( RC based flight control system), sensor penerbangan IMU dan sistem pitot, kamera, sistem telemetri (komunikasi) dan station kendali darat GCS, seperti yang ditunjukan pada gamba 9 dibawah ini.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE"> </span></div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><span lang="DE" style="font-family: "Book Antiqua","serif"; font-size: 11.0pt;"></span><span lang="DE"></span></div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><br />
</div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZq3Y1GrOCzzVDH78SwZNWlN7IdU3oClpl9Iw1kKlUPzW-DY15zI_c30a0h1yDkpi9DYpc7UIslN8xSxG5CA150WHoTROfmjmGBogTDdFFcwKNx5GYZ9DAjwVsYheUbiQfj-aIN8cR9UR5/s1600/sistem+avionik+uav+kujang.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="450" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgZq3Y1GrOCzzVDH78SwZNWlN7IdU3oClpl9Iw1kKlUPzW-DY15zI_c30a0h1yDkpi9DYpc7UIslN8xSxG5CA150WHoTROfmjmGBogTDdFFcwKNx5GYZ9DAjwVsYheUbiQfj-aIN8cR9UR5/s640/sistem+avionik+uav+kujang.png" width="640" /></a></div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><br />
</div><div align="center" class="MsoBodyTextIndent" style="text-align: center; text-indent: 0cm;"><span lang="DE">Gambar 9: Sistem Avionics UAV Kujang.</span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Melalui sistem telemetri yang terpasang pada UAV, autopilot dapat menerima perintah-perintah terbang dari sistem kendali darat (GCS) yang berupa mod autopilot, dan perintah-perintah terbang yg diinginkan seperti arah terbang, kecepatan terbang, ketinggian terbang, dan rute penerbangan yang dibentuk oleh waypoints (tititk penerbangan),dll. </span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Ketika sedang terbang, perintah-perintah terbang tersebut akan dibandingkan dengan parameter terbang yang di ukur oleh sistem sensor, seperti arah, kecepatan, ketinggian serta posisi UAV untuk diproses oleh logika-logika autopilot dalam menghasilkan signal-signal kendali. Signal-signal<span style="mso-spacerun: yes;"> </span>ini akan dikirim ke servo motor–servo motor untuk menggerakan bidang-bidang kendali pesawat sehingga UAV Kujang dapat terbang secara otomatis tanpa bantuan operator sesuai dengan rute penerbangan yang telah ditentukan . </span></div><div class="MsoBodyTextIndent" style="text-align: justify;"><br />
</div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE">Gambar 10 dibawah ini menunjukan bagaimana mod autopilot, armed NAV dan coupled NAV (navigation) menyebabkan UAV dapat terbang secara tepat dan otomatis sesuai dengan route penerbangan yang telah ditentukan berdasarkan waypoints yg sudah diprogram sebelumnya pada autopilot.</span></div><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizzK898jgF0aoBIyNF7Q51eaRiCT8wzArdy3rApjCy6jbzEOKUlpkcykU7Z4VGqMfrkR2A3SrEnbd7wg-6-kthcIShR2Xa_oASK0Q5pyzF-plCeIqoFyAKoCTmYKlyWuAFabrIJbVwMRj2/s1600/simulasi+nav+autopilot+mode.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="372" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEizzK898jgF0aoBIyNF7Q51eaRiCT8wzArdy3rApjCy6jbzEOKUlpkcykU7Z4VGqMfrkR2A3SrEnbd7wg-6-kthcIShR2Xa_oASK0Q5pyzF-plCeIqoFyAKoCTmYKlyWuAFabrIJbVwMRj2/s640/simulasi+nav+autopilot+mode.png" width="640" /></a></div><div class="MsoBodyTextIndent" style="text-align: justify;"><span lang="DE"> Gambar 10 : Fungsi Autopilot mod 'Armed dan coupled Navigation' ( dimulai dari kanan bawah)</span></div></div><span lang="DE" style="font-family: "Times New Roman","serif"; font-size: 12.0pt; mso-ansi-language: DE; mso-bidi-language: AR-SA; mso-fareast-font-family: "Times New Roman"; mso-fareast-language: EN-US;"></span><span lang="DE"> </span> </div><div class="MsoBodyTextIndent" style="text-align: justify;">Ketika proses tracking ini berlangsung, video kamera yang terpasang dibawah badan pesawat UAV Kujang akan menangkap gambar dan/atau video permukaan bumi untuk dikirim ke stasiun kendali darat untuk dilihat dan dianalisa oleh operator yg<span style="mso-spacerun: yes;"> </span>duduk di bawah. Selain itu juga, melalui system telemetri setiap kondisi terbang, posisi dan kedudukan UAV Kujang dapat dimonitor pada layar panel yg berada di dalam stasiun kendali darat, lihat gambar 11 . <br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwcDNUx_dNe2bjc5s8uaLE8I2OTDEDUMm2Z02m2rfHyqY1tVKLK4SNK0p8OxWUXP-kZcFTtxOXJdKuFsrRMUTpfz7Rm0_Gg8S1xCu1RtYqwyvsLHYQ42j02Ef6grZUuv40QS3T0-xjosMA/s1600/Ground+Control+Station.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="358" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjwcDNUx_dNe2bjc5s8uaLE8I2OTDEDUMm2Z02m2rfHyqY1tVKLK4SNK0p8OxWUXP-kZcFTtxOXJdKuFsrRMUTpfz7Rm0_Gg8S1xCu1RtYqwyvsLHYQ42j02Ef6grZUuv40QS3T0-xjosMA/s640/Ground+Control+Station.png" width="640" /></a></div><br />
<div style="text-align: center;"><span lang="DE">Gambar 11 : Tampilan Layar/Monitor di dalam Station Kendali Darat UAV </span></div></div>endri dan uavhttp://www.blogger.com/profile/11284332496571924229noreply@blogger.com3tag:blogger.com,1999:blog-2326656845742120908.post-78775418201774361082011-11-16T02:21:00.000-08:002011-11-16T02:21:53.835-08:00Design and Development Process of Autonomous Control Laws (Algorithms) for UAV Tamingsari<div class="MsoNormal" style="text-align: justify;"><span style="font-size: small;"><b>Abstract </b></span></div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">This writing will discuss the step by step procedure in the design and development of the control laws (Algorithms) of UAV TAMINGSARI starting from determination of aerodynamics, stability/control derivatives, setting up the non-linear flight model/equation of motion, trim determination, flight dynamics analysis, designing the control laws and gain scheduling development, and the simulation of control laws in form all software simulation, the hardware in the loop simulation (HILS) and the Iron-bird simulation before doing the flight testing.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"></div><div class="WordSection1"><div class="MsoNormal" style="text-align: left;"><b style="mso-bidi-font-weight: normal;">Introduction</b></div><div class="MsoNormal" style="text-align: justify; text-indent: 18.0pt;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The UAV TAMINGSARI is a low attitude and short range UAV having following the technical specifications :</span></div><ul style="margin-top: 0cm;" type="square"><li class="MsoNormal" style="mso-list: l0 level1 lfo3; tab-stops: list 36.0pt; text-align: justify;"><span style="font-size: 10pt;">Cruise Speed : 100 km/h</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo3; tab-stops: list 36.0pt; text-align: justify;"><span style="font-size: 10pt;">Cruise Altitude: 1000 m</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo3; tab-stops: list 36.0pt; text-align: justify;"><span style="font-size: 10pt;">Endurance: 2 – 3 Hours</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo3; tab-stops: list 36.0pt; text-align: justify;"><span style="font-size: 10pt;">Take off weight : 20 kg, payload (camera): 5 kg</span></li>
<li class="MsoNormal" style="mso-list: l0 level1 lfo3; tab-stops: list 36.0pt; text-align: justify;"><span style="font-size: 10pt;">Stall Speed : 40 km/h.</span></li>
</ul><div class="MsoNormal"><span style="font-size: 10pt;">and its airframe configuration is given by the Figure 1.</span></div><span style="font-family: "Arial","sans-serif"; font-size: 10pt;"></span><br />
<div class="MsoNormal"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFP7LSCZTdTlsYMcHxLXvLgUYzTVjpFV_wFH09CPhl4VVhbp7OJfsBr9KzuWTT4dgUCXhbaceqsLWJlpY_vcD6RKo9H5HLchuUDCK5lfpdph-EHx_bc6yhYdUOCCUMDCn_tpldefVRJRFn/s1600/uav+tamingsari.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="608" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjFP7LSCZTdTlsYMcHxLXvLgUYzTVjpFV_wFH09CPhl4VVhbp7OJfsBr9KzuWTT4dgUCXhbaceqsLWJlpY_vcD6RKo9H5HLchuUDCK5lfpdph-EHx_bc6yhYdUOCCUMDCn_tpldefVRJRFn/s640/uav+tamingsari.png" width="640" /></a></div><br />
</div><div class="MsoNormal"><span style="font-family: "Arial","sans-serif"; font-size: 10pt;"></span><span style="font-size: 10pt;"></span></div><div class="MsoNormal"><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;"> Figure 1: UAV “TAMINGSARI” in airborne and on the ground</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The design and development process of autonomous control laws (control algorithms) for this UAV begins with the definition of mission to be fulfilled by the UAV TAMINGSARI, which imposes requirements upon the shape of the flight path and the velocity along this flight path. </span></div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The mission requirements for the UAV TAMING SARI are formulated as follows:</span></div><div class="MsoNormal" style="margin-left: 18pt; text-align: justify; text-indent: -18pt;"><span style="font-family: Symbol;"> <b>U</b></span><b><span style="font-family: Symbol; font-size: 10pt;">AV TAMING SARI should have autonomous flight capability for aerial surveillance & reconnaissance in civil area within the defined flight envelope from the altitude 100 m to 1000 m at the speed of 75 km/h to 150 km/h. </span></b><span style="font-size: 10pt;"><b>UAV TAMING SARI should fly through any flight coordinates/way points precisely with good flight characteristics/ flight handling qualities. </b> </span></div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The consequence of the requirement stated above is UAV TAMING SARI should have following autonomous control laws/ algorithms (autopilot modes): </span></div><div class="MsoNormal" style="text-align: justify; text-indent: 18.0pt;"></div><ul><li><span style="font-size: 10pt;">Pitch and Yaw Damper –mode to augment the stability/damping characteristics</span></li>
<li><span style="font-family: Wingdings; font-size: 10pt;"><span style="font: 7pt "Times New Roman";"></span></span><span style="font-size: 10pt;">Attitude hold/select-mode to keep and select the desired attitude and improve the response/dynamics characteristics of UAV</span></li>
<li><span style="font-family: Wingdings; font-size: 10pt;"><span style="font: 7pt "Times New Roman";"></span></span><span style="font-size: 10pt;">Altitude hold/select mode to maintain the desired altitude & to fly through the different altitude level </span></li>
<li><span style="font-family: Wingdings; font-size: 10pt;"><span style="font: 7pt "Times New Roman";"></span></span><span style="font-size: 10pt;">Speed Hold – mode to keep the given speed of UAV</span></li>
<li><span style="font-family: Wingdings; font-size: 10pt;"><span style="font: 7pt "Times New Roman";"></span></span><span style="font-size: 10pt;">Coordinated Turn –mode to perform smoothly turning flight and maintain the altitude during turn flight.</span></li>
<li><span style="font-size: 10pt;">Waypoints based Auto Navigation ( waypoints following & precisely Flight path tracking)</span></li>
</ul><div class="MsoNormal" style="text-align: justify; text-indent: 18.0pt;"><span style="font-size: 10pt;">The resulting control problem in producing the autonomous control laws (algorithms) is therefore to generate appropriate deflections of aerodynamic control surfaces or changes in engine power or thrust, necessary to fulfill the mission of UAV TAMING SARI. </span></div><div class="MsoNormal" style="text-align: justify; text-indent: 18.0pt;"><br />
</div><div class="MsoNormal" style="text-align: justify; text-indent: 18.0pt;"><span style="font-size: 10pt;">The approach to solve this control problem is summarized in Figure 2. It illustrates a complete design & development process of autonomous control laws/algorithms for UAV and the division in different design stages starting from stability/control derivative determination, setting up the non-linear equation of motion (simulation flight model), trim determination, flight dynamics analysis, designing the control laws, gain scheduling development, until the simulation of control laws. </span><br />
</div><div class="MsoNormal" style="text-align: justify;"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjHJ_l9_7hpBWJf8Y5d4uXK2fKBfWC-dFHRBCI6GKN-7Y9QWc9Zd-Vlqg7A9BBL7TAWaVWYVHpviyQBZzCi_GqddQRUwMgQUBnlGYq5LFbtaW3WDchjVN1bDwq40pXTiJOHK1Z5zIxwe8UA/s1600/design+and+development+of+autopilot+for+uav+tamingsari..png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="385" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjHJ_l9_7hpBWJf8Y5d4uXK2fKBfWC-dFHRBCI6GKN-7Y9QWc9Zd-Vlqg7A9BBL7TAWaVWYVHpviyQBZzCi_GqddQRUwMgQUBnlGYq5LFbtaW3WDchjVN1bDwq40pXTiJOHK1Z5zIxwe8UA/s640/design+and+development+of+autopilot+for+uav+tamingsari..png" width="640" /></a></div></div></div><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br />
<div class="WordSection2"><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;"></span></div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 2: Procedure in design and development of control laws (Algorithms) for UAV TAMINGSARI</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div></div><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br />
<div class="WordSection3"><div class="MsoNormal" style="text-align: justify;"><b style="mso-bidi-font-weight: normal;">Design and Development of Control Laws (Algorithms) for UAV Tamingsari</b></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify; text-indent: 18.0pt;"><span style="font-size: 10pt;">According to Figure 2, the process starts with calculating/ estimating data of UAV TAMING needed for non-linear flight model. It consists of the aerodynamic data, the stability and control derivatives, the engine parameter as well as the geometrical data of aircraft, like the moment inertia, the mass, the wingspan, and the wing surface. </span></div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><br />
</div><div class="MsoNormal" style="text-align: justify; text-indent: 36.0pt;"><span style="font-size: 10pt;">The aerodynamic data from wind-tunnel test are compared with the calculated data. The both data closely match to each others. Figure 3 shows the final data for UAV that have been estimated using the USAF – Stability and Control DATCOM and the semi empiric formulas from ROSKAM book. The data are expressed in the body fixed coordinate system that normally is used in the flight modeling and simulation. </span><br />
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<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHQucI7FWe4K5DLOhjCR3gvG8A3wSNhLy3Eah9fpOYYmFD2Pi47F-69saG5MCrpze3ZjBGrdfqbmiCHV6LdhRGJkZBELCM3DWgFS5j20FqYeNHHYI8SFPO1VUjLNFO3raIv8mChW3Ah7WI/s1600/data+aestacon+uav+tamingsari.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="351" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhHQucI7FWe4K5DLOhjCR3gvG8A3wSNhLy3Eah9fpOYYmFD2Pi47F-69saG5MCrpze3ZjBGrdfqbmiCHV6LdhRGJkZBELCM3DWgFS5j20FqYeNHHYI8SFPO1VUjLNFO3raIv8mChW3Ah7WI/s400/data+aestacon+uav+tamingsari.png" width="400" /></a></div><span style="font-size: 10pt;"> </span></div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 3: Flight Data of UAV TAMINGSARI</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The aerodynamic data, the stability and control derivatives as well as the engine derivatives are used as the parameter for the equations of motion describing/ modeling the motion of the UAV TAMINGSARI in the air (UAV flight model)</span><b style="mso-bidi-font-weight: normal;"><span style="font-size: 8pt;"> </span></b><span style="font-size: 10pt;">. </span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">The resulting general Earth-flat equations of motion for UAV in the body fixed coordinate system are:</span><br />
<br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjLZUu3kEz2bjThUXbnmJvalLfRPzz3odi2roOtxqoWQSqdQc3OKyx-f09VL78x5GxCsQCUIq201Bkmppur_PslIHIWqUzFAfA9JBQ6RoxqT3BlP7RtVjtHsN5UfyDdegEzod6CTAy8zKJy/s1600/equations+of+motion.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="257" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjLZUu3kEz2bjThUXbnmJvalLfRPzz3odi2roOtxqoWQSqdQc3OKyx-f09VL78x5GxCsQCUIq201Bkmppur_PslIHIWqUzFAfA9JBQ6RoxqT3BlP7RtVjtHsN5UfyDdegEzod6CTAy8zKJy/s320/equations+of+motion.png" width="320" /></a></div><span style="font-size: 10pt;"> </span><b style="mso-bidi-font-weight: normal;"><span style="font-size: 10pt;"> <span style="position: relative; top: 12pt;"></span> </span></b></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none; text-indent: 18.0pt;"><span style="font-size: 10pt;">These six degree of freedom (6-DOF), non-linear equations of motion describe three translating motion (force equation ) and three rotating motion (moment equation) of the UAV and can cover all flight conditions and flight maneuvers in the complete flight envelope, from the take-off until landing </span><b style="mso-bidi-font-weight: normal;"><span style="font-size: 8pt;">.</span></b><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">To the equations of motion the kinematics equations and navigation equation below should be added.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The following figure shows the graphical non-linear flight model for RPV Tamingsari.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSCNUMkBAEifWQQhharmhKbH7xh0nne3xR7pKWOgsMV3kbqVQkr5aICCVUnmVmC3P8Dtx7Ne4BHx1W97msvGqJ-8EPJXBAWsLt1P5V08G8DdM2Ce6CnR3Nx1i1czzvM2WCg0koTwGvIlXf/s1600/simulink+equations+of+motion.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="640" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiSCNUMkBAEifWQQhharmhKbH7xh0nne3xR7pKWOgsMV3kbqVQkr5aICCVUnmVmC3P8Dtx7Ne4BHx1W97msvGqJ-8EPJXBAWsLt1P5V08G8DdM2Ce6CnR3Nx1i1czzvM2WCg0koTwGvIlXf/s640/simulink+equations+of+motion.png" width="516" /></a></div><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11pt;"></span><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 4: Simulink flight model of UAV TAMINGSARI</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">Once non-linear UAV flight model has been created, the next step is to determine <i>so </i>called steady-state, trim flight conditions since these conditions are a prerequisite for linearizing the non-linear model as well as for non-linear simulation. </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><div class="separator" style="clear: both; text-align: center;"></div><span style="font-size: 10pt;">The trim flight condition is a condition in which the sums of forces and moments acting on the aircraft are equal zero. That means that rotational and translation acceleration </span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"><span style="position: relative; top: 5pt;"></span></span></b><span style="font-size: 10pt;"> </span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"><span style="position: relative; top: 5pt;"></span></span></b><span style="font-size: 10pt;"> </span><b style="mso-bidi-font-weight: normal;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"><span style="position: relative; top: 5pt;"></span></span></b><span style="font-size: 10pt;"><i> </i>in equations of motion must be equal zero. Since the equations of motion are non-linear and the dependence of the aerodynamic data is complex, the calculation of trim flight condition is performed with numerical trim algorithm using optimization method SIMPLEX. This trim algorithm will solve for required flight variables, control surfaces and throttle setting for a desired steady-state flight condition such as a given altitude and airspeed </span><b style="mso-bidi-font-weight: normal;"><span style="font-size: 8pt;">.</span></b></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">The non-linear state flight model of UAV about a determined trim flight condition is linearised by computing partial derivatives of dx/ dt = f(x,u) to generate the A and B matrices of linear state mode of the aircraft: </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-autospace: none;"><span style="font-size: 10pt;"> dx/ dt = Ax + Bu (2)</span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">where x and u now represent small deviations of state variable and control input from the trimmed steady-state values. </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">The partial derivatives of the output vector <i>y </i>= g(x,u) is taken to build the C and D matrices: </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-autospace: none;"><i><span style="font-size: 10pt;"> y </span></i><span style="font-size: 10pt;">= Cx + Du (3)</span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">where <i>y, </i>x and u are small deviations from the trim. The output variable <i>y </i>is critical variable such as accelerations and very important for controlling the aircraft motion. The JACOBY method is employed for calculating all derivatives of input, output and state vectors . </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">Finally, the linear state model matrices A, B,C, D are stored in a format suitable for the analysis software like MATLAB </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><br />
<span style="font-size: 10pt;">Based on the linear UAV model, the dynamic characteristics of UAV is analyzed, such as the trim, stability and control characteristics of the aircraft, the dynamic response of the aircraft to control input and external disturbance, the effect on the flight condition changes of the aircraft dynamics. </span></div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none; text-indent: 36.7pt;"><br />
</div><div class="MsoNormal" style="mso-layout-grid-align: none; mso-pagination: none; text-align: justify; text-autospace: none;"><span style="font-size: 10pt;">The Analysis will be performed based on the linear UAV model as well as non-linear ones using flight simulation on the computer. After understanding the dynamic behaviors of the aircraft, the flight control laws for UAV are designed using the root locus technique regarding the good flying handling qualities given by Military flying quality requirements like MIL - STD 1797, MIL-F-8785 B .</span></div><div class="MsoNormal" style="text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11pt;"></span><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The UAV TAMINGSARI is designed to fly within the flight envelope from the altitude 100 m to 1000 m at the speed of 75 km/h to 150 km/h, whose boundaries are determined by angle of attack -limit, service ceiling, engine limit and airspeed limit. When the UAV TAMINGSARI is flying from one flight condition to others flight conditions within this flight envelope, the UAV dynamic changes. This can cause that a dynamic mode being stable and adequately damped in one flight condition becomes inadequately damped in other flight condition. This lightly damped oscillatory mode causes the difficulties to control UAV TAMINGSARI precisely. </span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">This problem has been overcome by using feedback control to modify the UAV dynamics. The gain of this feedback must be adjusted according to the flight condition. The adjustment process is called <i>gain scheduling technique. </i>Here, the gains are designed for a large set of trim flight conditions and then are scheduled by interpolating them with respect to flight conditions: the gains are programmed as functions of dynamic pressure, see Figure 5, 6 and Figure 7.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdntWKfeKTyEoMUllkoAtRGQ0pdSL0riKZcDF2PgiS4i-qrWtJDpzk7mJk9ADBsS2AnwUmhXxLfXQnwiqtv68Wjd6KuLAP-fJQ_YJ4mVvmYziwr3b_8m08RBi3weeR0o-POw951xn6Jt11/s1600/armen+NAV+mode.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="300" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjdntWKfeKTyEoMUllkoAtRGQ0pdSL0riKZcDF2PgiS4i-qrWtJDpzk7mJk9ADBsS2AnwUmhXxLfXQnwiqtv68Wjd6KuLAP-fJQ_YJ4mVvmYziwr3b_8m08RBi3weeR0o-POw951xn6Jt11/s640/armen+NAV+mode.png" width="640" /></a></div><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11pt;"></span></div><div class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 5: Flight control law (algorithms) of armed navigation for waypoints following/ flight path tracking</span></div><div class="MsoNormal" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiWnDe-_53FEcT9Ij3GXqYIK4ra0InwyDUHJgkC_UGHhOHW5R8xu1aNy6iK4gMeyL4mW4Ij-zsJNXW-e-o5pGVHsCwOkqiBfazj5Bzj4r-qSfgTADz8Zr3EpWmIJYucKCo1HOyO8BKa30z2/s1600/coupled+nav+mode.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="337" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEiWnDe-_53FEcT9Ij3GXqYIK4ra0InwyDUHJgkC_UGHhOHW5R8xu1aNy6iK4gMeyL4mW4Ij-zsJNXW-e-o5pGVHsCwOkqiBfazj5Bzj4r-qSfgTADz8Zr3EpWmIJYucKCo1HOyO8BKa30z2/s640/coupled+nav+mode.png" width="640" /></a></div><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-family: "Book Antiqua","serif"; font-size: 11pt;"></span></div><div class="MsoNormal" style="text-align: justify;"><div style="text-align: center;"><span style="font-size: 10pt;">Figure 6: Flight control law of coupled navigation for waypoints following & Flight path tracking</span><br />
<span style="font-size: 10pt;"><br />
</span></div></div><div class="MsoNormal" style="text-align: justify;"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9KKVeEHDRqXA0N4zgCFCKx5TF3SLz7I9nWJKlyndOVCIXXaknEFSQpbsYywdI_b0vPXrLNJyTy-TANzGSrUKrBD-_07T-YNhv8A4-bSFceNi1dAlUm1GXlp9AhldAgiQM_Z5hh_66MTRt/s1600/unsymmterical+autopilot+mode.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="574" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEg9KKVeEHDRqXA0N4zgCFCKx5TF3SLz7I9nWJKlyndOVCIXXaknEFSQpbsYywdI_b0vPXrLNJyTy-TANzGSrUKrBD-_07T-YNhv8A4-bSFceNi1dAlUm1GXlp9AhldAgiQM_Z5hh_66MTRt/s640/unsymmterical+autopilot+mode.png" width="640" /></a></div><br />
<div style="text-align: center;"><span style="font-size: 10pt;">Figure 7: Modes of flight control law ( Algorithms) for the unsymmetrical flight of UAV</span></div><br />
<span style="font-size: 10pt;">The detailed non-linear simulation of flight control laws for UAV TAMINGSARI is made in order to validate and enhance the results of the linear control analysis, design and development. This will ensure that the flight control laws of UAV TAMINGSARI works well over the complete range of flight-envelope for which it is designed, taking into account a suitable safety margin. This analysis covers a wide range of velocities and altitudes and all possible UAV configurations. The Figure 8 & 9 show the nonlinear, non real time simulation of the autopilot modes for UAV TAMINGSARI.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgldpFMr69CtIBeHrtYeAKFXPJ1YYbc-N5gLXZYoNjyfYGZTb7pkRqFesM9oyLpS7TOoslmiwC9Lv2fKJEEC1OuZ5vSkdHamv4VrML_9YpqFzdS91DaZbAzDe07WNr-iAd-4eMqOfC6AyKh/s1600/precisely+flight+path+tracking.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="420" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgldpFMr69CtIBeHrtYeAKFXPJ1YYbc-N5gLXZYoNjyfYGZTb7pkRqFesM9oyLpS7TOoslmiwC9Lv2fKJEEC1OuZ5vSkdHamv4VrML_9YpqFzdS91DaZbAzDe07WNr-iAd-4eMqOfC6AyKh/s640/precisely+flight+path+tracking.png" width="640" /></a></div></div></div><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"><br clear="all" style="mso-break-type: section-break; page-break-before: auto;" /> </span> <br />
<div class="WordSection4"><div class="MsoNormal" style="text-align: justify;"><br />
</div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;"></span></div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 8: Nonlinear , non real time simulation of waypoints following & precisely flight path tracking for UAV TAMINGSARI</span></div><div align="center" class="MsoNormal" style="text-align: center;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNvloB30WL670M8R-AwAeXYthQDaWoV7jx4_fYtchs0M8pYLasq3-WeaaxjWck0vnqlSUC67ja5MqKR35SM5rTl0nnjBQzJs0OxreGG8ao66Ds8P1vSQNP05XY_9bmnNkNjund2cKEY86H/s1600/coordinated+turn+autopilot+mode.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="508" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgNvloB30WL670M8R-AwAeXYthQDaWoV7jx4_fYtchs0M8pYLasq3-WeaaxjWck0vnqlSUC67ja5MqKR35SM5rTl0nnjBQzJs0OxreGG8ao66Ds8P1vSQNP05XY_9bmnNkNjund2cKEY86H/s640/coordinated+turn+autopilot+mode.png" width="640" /></a></div><div style="text-align: center;"><br />
</div></div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;"></span></div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 9: Nonlinear , non real time simulation of heading hold/select for UAV TAMINGSARI</span></div><div align="center" class="MsoNormal" style="text-align: center;"><br />
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<div class="WordSection5"><div class="MsoNormal" style="margin-left: 18.0pt; text-align: justify;"><span style="font-size: 10pt;">The internal structure of this non-linear autonomous UAV's flight simulation is shown in figure 10. This simulation is known as all software simulation of UAV TAMINGSARI and is used for</span></div><div class="MsoNormal" style="margin-left: 18.0pt; text-align: justify;"><br />
</div><div class="MsoNormal" style="margin-left: 72.0pt; mso-list: l3 level2 lfo4; tab-stops: list 72.0pt; text-align: justify; text-indent: -18.0pt;"><span style="font-size: 10pt;">–<span style="font: 7pt "Times New Roman";"> </span></span><span style="font-size: 10pt;">Engineering design and development of control laws</span></div><div class="MsoNormal" style="margin-left: 72.0pt; mso-list: l3 level2 lfo4; tab-stops: list 72.0pt; text-align: justify; text-indent: -18.0pt;"><span style="font-size: 10pt;">–<span style="font: 7pt "Times New Roman";"> </span></span><span style="font-size: 10pt;">Pilot Training</span></div><div class="MsoNormal" style="margin-left: 72.0pt; mso-list: l3 level2 lfo4; tab-stops: list 72.0pt; text-align: justify; text-indent: -18.0pt;"><span style="font-size: 10pt;">–<span style="font: 7pt "Times New Roman";"> </span></span><span style="font-size: 10pt;">Flight Test planning </span><b style="mso-bidi-font-weight: normal;"><span style="font-size: 8pt;"> </span></b><span style="font-size: 10pt;">.</span><br />
</div><div class="MsoNormal" style="text-align: justify;"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhexh52N_4sUGz4kGCqfupapWaQe36cPHzWjVVBWFwdDw6OP86mrHUKuVYsweVzLN_SM_zqNpa5Zv7kH1Zpv7OujWhF8vqkyU82iIbabpT2cWLKvU-cnDtBYdFzlOUGfK-bwMzsdruqR3f6/s1600/simulink+model+of+uav+simulator.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="434" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhexh52N_4sUGz4kGCqfupapWaQe36cPHzWjVVBWFwdDw6OP86mrHUKuVYsweVzLN_SM_zqNpa5Zv7kH1Zpv7OujWhF8vqkyU82iIbabpT2cWLKvU-cnDtBYdFzlOUGfK-bwMzsdruqR3f6/s640/simulink+model+of+uav+simulator.png" width="640" /></a></div><span style="font-size: 10pt;"> </span></div></div><div class="WordSection6"><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;"></span></div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 10: Internal structure of all software simulation of UAV TAMINGSARI using Simulink.</span></div><div align="center" class="MsoNormal" style="text-align: center;"><br />
</div></div><div class="WordSection7"><div class="CM10" style="text-align: justify;"></div><div class="CM10" style="text-align: justify;"><span style="font-size: 10pt;">The second last step is so called hardware in-the-loop simulation or HILS. The </span><span style="color: black; font-family: "Times New Roman","serif"; font-size: 10pt;">Hardware-in-loop simulation (HILS) is a cornerstone of unmanned aircraft/UAV development. </span><span style="font-size: 10pt;">In this phase, </span><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">the control laws for UAV TAMINGSARI will be evaluated in a real-time environment on the ground.</span><span style="font-size: 10pt;"> </span><span style="color: black; font-family: "Times New Roman","serif"; font-size: 10pt;">Well designed simulators allow the control laws and mission functionality of UAV to be tested without risking hardware in flight test. Although HILS can not replace flight testing, it measurably reduces the likelihood of failure by detecting bugs and deficiencies in the laboratory. .</span></div><div class="MsoNormal"></div><div class="MsoNormal"><br />
</div><div class="CM4" style="line-height: normal; text-align: justify;"><span style="color: black; font-family: "Times New Roman","serif"; font-size: 10pt;">To facilitate this vital (and typically difficult) function, an integrated autonomous onboard computer system (real embedded controller) that has been developed is connected to the real-time flight simulator computer to receive the measured flight variables from flight control simulator as well as to send the autonomous control surfaces signal to the flight control simulator via the external RS 232 serial interface. At the same time, the integrated avionics system will receive send data from the ground control station, as showed in Figure 11. </span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAL1K5T4l75lROcPqt2TlRdgQEvG_kbATkRzsPjIREAMDbWbA1oyFmgMQL-Osr-ff9KgJkISwEx32hxM9jI9luxyBtH4AKogLFw9DGlCGYaDyersTRUwxLT5HF_nKO_gS1vnsQzgfU3crr/s1600/HILS+for+UAV.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgAL1K5T4l75lROcPqt2TlRdgQEvG_kbATkRzsPjIREAMDbWbA1oyFmgMQL-Osr-ff9KgJkISwEx32hxM9jI9luxyBtH4AKogLFw9DGlCGYaDyersTRUwxLT5HF_nKO_gS1vnsQzgfU3crr/s640/HILS+for+UAV.png" width="640" /></a></div></div></div><div class="WordSection8"><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: justify;"></div><div align="center" class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 11 : Structure of HILS used in developing the UAV TAMINGSARI</span></div><div align="center" class="MsoNormal" style="text-align: center;"><br />
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<div class="CM10" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">The integrated avionics system (autopilot system) for UAV Tamingsari consists of autopilot (embedded computer ), an a<span style="color: black;">ir data, IMU, on-board data link/telemetry, on-board GPS, ground gontrol station as well as the payload system, see Figure 12.</span></span></div><div class="CM10" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhRD_mUgh8Hfb5q5GOe5NDkdaxVrhRrUdSrVjws5oTYPdO9qkJZRTkuP5Y2htjxn2yPyYFOk5vhOanF223hf-P7uTb-mf2iaZSUmnJoPEx2mSi_NfobRCQCbYIYiZmqtXPKBQq9K70Vg01W/s1600/intergrated+uav+avionics+system.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="360" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEhRD_mUgh8Hfb5q5GOe5NDkdaxVrhRrUdSrVjws5oTYPdO9qkJZRTkuP5Y2htjxn2yPyYFOk5vhOanF223hf-P7uTb-mf2iaZSUmnJoPEx2mSi_NfobRCQCbYIYiZmqtXPKBQq9K70Vg01W/s640/intergrated+uav+avionics+system.png" width="640" /></a></div></div><div class="CM4" style="text-align: center;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Figure 12: System architecture of integrated avionics system for UAV Tamingsari. </span></div><div class="MsoNormal"><br />
</div><div class="CM4" style="line-height: normal; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Since the design and development of control laws for UAV TAMINGSARI have used the software MATLAB and Simulink augmented with the autocode autocode tools Real-Time-Workshop (RTW) and Stateflow, so the graphically flight model of UAV TAMINGSARI and its flight control laws can then be automatically coded in C using RTW, compiled using the software environment, and then downloaded to the UAV integrated onboard computer system (real embedded controller) . This embedded controller has more than enough CPU muscle to run complicated autocoded algorithms. </span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The final step before the flight testing is what so called the IRONBIRD simulation. The IRONBIRD simulation is as final check for system configuration and used for measuring the closed-loop response of control laws, to verify actuator models. The Figure 13 shows the configuration of IRONBIRD simulation for UAV TAMINGSARI.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
<div class="separator" style="clear: both; text-align: center;"><a href="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgFgx_njD7qPZuUkL9iz0FWjc8Ix0DZSBquB9YDbGvAc11U-PyRtm4LzJwh_qqY0NKF3oIfSU67vqojLt3WxSGAfdyeatySPwa4tQZEUcvZ-eQKkqzxjFezyUBd2oZvfuA2OxGyKwp3N9f3/s1600/ironbird+system+for+UAV.png" imageanchor="1" style="margin-left: 1em; margin-right: 1em;"><img border="0" height="346" src="https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgFgx_njD7qPZuUkL9iz0FWjc8Ix0DZSBquB9YDbGvAc11U-PyRtm4LzJwh_qqY0NKF3oIfSU67vqojLt3WxSGAfdyeatySPwa4tQZEUcvZ-eQKkqzxjFezyUBd2oZvfuA2OxGyKwp3N9f3/s640/ironbird+system+for+UAV.png" width="640" /></a></div><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;"></span></div><div class="MsoNormal" style="text-align: center;"><span style="font-size: 10pt;">Figure 13: Ironbird simulation of UAV TAMINGSARI.</span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">In this simulation, the autonomous onboard computer in which the flight control laws reside will be put into the UAV airframe and connected with the real servo actuators of UAV to replace the mathematical model of actuator of UAV. </span></div><div align="center" class="MsoNormal" style="text-align: center;"><br />
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</div><div align="center" class="MsoNormal" style="text-align: center;"><b style="mso-bidi-font-weight: normal;">Conclusion</b></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">The design and development of the control laws/algorithms for UAV TAMINGSARI is not only just designing and simulating the linear control laws, but there are some issues such as getting the UAV data (aerodynamics, stability & control, engine), generating the nonlinear & linear model, trim determination, the gain scheduling, non-linear simulation of control laws as well as the real time simulation of the control laws on the hardware environment (hardware in the loop and ironbird simulation). </span></div><div class="MsoNormal" style="text-align: justify;"><br />
</div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">These issues have to be done and solved in order to convert the remotely piloted vehicle into fully autonomous UAV before the flight test of UAV TAMINGSARI is done. Actually these procedures/steps are common ones in designing and developing the automatic flight control system for the aircraft in the aircraft industries, like BAE System, Airbus, Boeing, etc. </span></div><div class="MsoNormal" style="text-align: justify;"><br />
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</div><div align="center" class="MsoNormal" style="text-align: center;"><b style="mso-bidi-font-weight: normal;">References</b></div><div align="center" class="MsoNormal" style="text-align: center;"><br />
</div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Rachman, E, “ Documen of Technical Functional Requirement on Integrated UAV Avionics System”, Globalindo Technology Service Indonesia, Bandung-Indonesia, August,2007.</span></div><div class="MsoBodyText" style="text-align: justify;"><br />
</div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Rachman, E., Radzuan Razali, “ Design, Manufacturing and Flight test of UAV TAMINGSARI”, Report Journal, School of Aerospace Engineering, Universiti Sains Malaysia, Penang-Malaysia, 2004. </span></div><div class="MsoBodyText" style="text-align: justify;"><br />
</div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Rachman, E., Razali, R., “ Preliminary Design of Control Law for Longitudinal Control and Stability augmentation System of F-16”, Regional Conference on Aeronautical Science , Technology and Industry, ITB, Indonesia, May 2004.</span></div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"> </span></div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Rachman, E., Muhammad, J., “ Non-linear Simulation of Controller For Longitudinal Control Augmentation System (CAS) of F-16 Using Numerical Approach”, International Journal of Information Science, December 2003. </span></div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;"> </span></div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Rachman, E., Azlin, Md., “ Computer Simulation of The Relaxed Static Stable Aircraft of F-16 Using numerical Algorithms”, International Journal of APPLIED SCIENCE & COMPUTATIONS, Vol. 10 No. 13, December 2003.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm;"><br />
</div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Brian L. Stevens and Franks L. Lewis, “ Aircraft Control and Simulation”, John Wiley & Sons, Inc., New Jersey, 2003.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"> </div><div class="MsoNormal" style="text-align: justify;"><span style="font-size: 10pt;">Rachman,E.,Fragaria, A., Zulkifli, Md., “ Application of Numerical Method for Simulating Steady-State, Trimmed Flight Conditions of RPV TAMINGSARI “, Proceedings of the Second World Engineering Congress, page 419-424, Kuching – Serawak, Malaysia, July 2002.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><br />
</div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Blight, J.D, Dailey, R.L, “ Practical control law design for aircraft using multivariable technique”, Taylor & Francis -Publisher, Philadelphia, 1996.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><br />
</div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">H. Almeida, V. de Broaderade, and J.R Macelino, “ Aerodynamic Design, Analysis and Test of the ARMOR X7 UAV, 11<sup>th</sup> International Conference on temeotely Piloted Vehicles, Bristol, UK, 1994.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><br />
</div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Pahle, Joseph W., Bruce Powers, “ Research Flight Control System Development for F-18 High Alpha Research Vehicle, NASA TM-104232, 1991.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><br />
</div><div class="MsoBodyText" style="text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Swift, G., Sebak, K., and Shepard , C., “Subsonic Unmanned Air Reconnaissance System Design,” Procedings of the AIAA/AHS/ASEE Aircraft Design, Systems and Operation Conference, AIAA paper 90-3281, AIAA, Reston, VA, Sept. 1990.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><br />
</div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">Baarsul, M., “Lecture Notes on Flight Simulation Techniques”, Delft University of Technology, Netherland, August, 1989.</span></div><div class="MsoBodyText" style="tab-stops: 2.0cm;"><br />
</div><div class="MsoBodyText" style="tab-stops: 2.0cm; text-align: justify;"><span style="font-family: "Times New Roman","serif"; font-size: 10pt;">…………., “ Embedded Target for PC 104/++ for Use with Real Time Workshop”, MATLAB User’s Guide version 1, The Mathworks Inc., Hill Drive-Natick-MA, USA, 2002 </span></div><div class="MsoBodyText" style="tab-stops: 2.0cm;"><br />
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