A tilt rotor UAV for long endurance operations in remote environments
A tilt rotor UAV for long endurance operations in remote environments
复制标题
DOI：
--
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Josiah T. Vandermey
中科院分区：
文献类型：
--
作者：
Josiah T. Vandermey
使命时间的延长将极大地扩展小型无人机的实用性，目前小型无人机仅限于持续不超过几个小时的单次飞行。本论文评估了发展小型长航时无人机所面临的挑战，并提出了一种倾转旋翼无人机的初步飞行器和控制器设计，该无人机通过结合低功率模式与能量收集和自主起飞和着陆能力来实现长航时操作。为提供使命性能和尺寸分析，建立了飞行器构型的质量和功率模型。结果表明，存在一种可行的设计，能够实现多次连续飞行，从日出后一小时到日落前一小时连续飞行。根据尺寸的结果，原型倾转旋翼飞行器与板载传感和控制，以证明所需的起飞控制能力。车辆控制体系结构被建立为局部有效的反馈控制器的组成。一个非线性，四元数为基础的模型和仿真开发的车辆动力学和控制器的设计过程中使用。悬停控制器采用嵌套式PID线性反馈控制器，并在样机上进行了姿态和高度悬停控制。动态逆用于消除飞行器起飞动力学中的非线性，并在线性化动力学上实现具有俯仰速率跟踪的线性控制器。在起飞和悬停控制器模式之间的过渡期间的不连续的控制输入被示出为导致不期望的瞬态行为，该瞬态行为通过确定何时发生控制转移的切换设计以及通过输入信号的平滑来减轻。论文指导：乔纳森P。如何标题：R。C. Maclaurin航空航天学教授
Extended mission times will greatly expand the utility of small UAVs that are currently limited to a single flight lasting no more than a few hours. This thesis assesses the challenges to developing a small, long endurance UAV and presents a preliminary vehicle and controller design for a tiltrotor UAV that achieves long endurance operation by combining a low power mode with energy harvesting and autonomous takeoff and landing capabilities. Mass and power models are developed for the vehicle configuration to provide mission performance and sizing analysis. Results indicate that a feasible design exists that is capable of achieving multiple, successive flight with continuous flight from one hour after sunrise to one hour before sunset. Based on the sizing results, a prototype tiltrotor vehicle is built with on-board sensing and control to demonstrate the required takeoff control capabilities. The vehicle control architecture is established as a composition of locally valid feedback controllers. A nonlinear, quaternion based model and simulation are developed for the vehicle dynamics and used in the controller design process. A nested PID linear feedback controller is implemented for the hover controller and attitude and altitude hovering control are demonstrated on the prototype vehicle. Dynamic inversion is used to cancel nonlinearities in the vehicle takeoff dynamics and a linear controller is implemented on the linearized dynamics with pitch rate tracking. Discontinuous control inputs during the transition between takeoff and hover controller modes are shown to result in undesirable transient behaviors that are mitigated by a switching design that determines when the control transfer occurs and through smoothing of the input signal. Thesis Supervisor: Jonathan P. How Title: R. C. Maclaurin Professor of Aeronautics and Astronautics