Feedback Control Driven Mechanical Design Optimization
Feedback Control Driven Mechanical Design Optimization
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反馈控制驱动的机械设计优化
DOI：
10.1152/jappl.1977.42.1.44
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
James Strawson
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文献类型：
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作者：
James Strawson
作者：Strawson，James Robert|顾问：Bewley，托马斯; Kuester，Falko|摘要：目前这批专注于户外的四旋翼飞行器很难探索狭窄、GPS拒绝和视力受损的环境，同时管理自诱导湍流并保持环境和无人机本身的安全免受碰撞。主流设计通常将其螺旋桨布置在同一平面内或同一平面附近，导致欠驱动系统必须滚动和俯仰才能横向移动。本论文描述了一种软多旋翼飞机的设计、分析和建造，该飞机具有面内机动性和解耦的6自由度控制能力，允许低剖面传感器有效载荷集成，而不需要万向节，以及在隧道和倒塌的建筑物等受限空间中的可预测和安全飞行。设计的各个方面都进行了描述，从电子包本身开始。作者观察到小型嵌入式Linux平台在机器人教育中的使用率极低。作为无处不在的基于微处理器的开发板（如Arduino）的替代方案，这项工作介绍了在原型设计和教育环境中使用Robotics Cape和BeagleBone Blue沿着及其相关的软件和硬件生态系统。这个生态系统最初的设计和生产，以促进上述多旋翼的建设，但继续被用来作为UCSD MAE课程的一部分，为others.Following的多旋翼的电子封装的设计，本文提出了一种方法，用于优化转子角度的框架参数和所需的性能特性的函数。它比较了优化配置与现有的商业六旋翼机的性能，并量化的优化设计的控制权限的改善。多旋翼的概念，然后实施为一个硬壳式机身，设计通过提出的技术，快速迭代的机身外壳厚度的基础上，使用有限的壳元模态分析。最后，通过使用CFD检查几个近距离飞行场景，通过支持飞行控制器的分析性能表征，并通过构建的多旋翼控制机构的物理测量，评估平台的真实性能。
Author(s): Strawson, James Robert | Advisor(s): Bewley, Thomas; Kuester, Falko | Abstract: The current crop of outdoor-focused quadrotors struggle to explore tight, GPS denied, and vision impaired environments while managing self-induced turbulence and keeping the environment and UAV itself safe from collisions. Mainstream designs typically arrange their propellers in or near the same plane, resulting in an under-actuated system that must roll and pitch in order to move laterally. This dissertation describes the design, analysis, and construction of a soft multirotor airframe with the capability of in-plane maneuverability and decoupled 6DOF control which allow for low profile sensor payload integration without the need for a gimbal as well as predictable and safe flight in confined spaces such as tunnels and collapsed buildings. All aspects of the design are described, beginning with the electronics package itself.The author observes the disappointingly low use of small embedded Linux platforms in robotics education. As an alternative to the ubiquity of microcontroller-based development boards such as Arduino, this work presents the use of the Robotics Cape and BeagleBone Blue along with their associated software and hardware ecosystem in both a prototyping and education environment. This ecosystem was initially designed and produced to facilitate the aforementioned multirotor's construction, yet continues to be used as part of the UCSD MAE curriculum for the benefit of others.Following the design of the multirotor's electronics package, this dissertation presents a method for optimizing rotor angles as a function of the frame parameters and the desired performance characteristics. It compares the performance of an optimized configuration with an existing commercial hexacopter, and quantifies the improved control authority of the optimized design. The multirotor concept is then implemented as a monocoque airframe, designed through a presented technique for rapidly iterating the airframe shell thickness based on modal analysis using finite shell elements. Finally, the real-world performance of the platform is evaluated by examining several close-quarters flight scenarios using CFD, through analytical performance characterization of the supporting flight controller, and through physical measurement of the constructed multirotor's control authority.