Force/motion platform for dynamic aerodynamic measurements and simulated wind gusts on aerial vehicles

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In order to develop robust control strategies for unmanned aerial vehicles (UAV) flying in urban environments and gusty atmospheric conditions, one needs to develop accurate and reliable models for the aerodynamics as well as the stability and control derivatives of the UAV. The proposed RTI equipment will allow such measurements to be taken and allow aerospace researchers at McGill to develop innovative and unique research in the field that no other universities are able to reproduce. The aerodynamic characterization and modelling for such UAV requires experimental measurements to be taken about all six axis of the vehicle (heave, sway, plunge, roll, pitch yaw). To the best of our knowledge, no complete measurements exist for quadrotor UAVs or vertical take-off and landing UAVs. In order to obtain such measurements, one requires a six degree of freedom actuator with sufficiently large ranges (±25o) as well as a six axis force/torque sensor to measure the required aerodynamic loads. One such actuator device is the hexapod, or Stewart platform - a parallel robot with six prismatic actuators controlled via inverse kinematics - which is requested from the RTI grant. A key component for understanding and modelling the stability derivatives of an aerial vehicle is the knowledge of how the vehicle will respond to dynamic changes in both position and attitude i.e. due to gusts of winds or rapid deflection of control surfaces. Current wind tunnels are unable to recreate such conditions in all six axis, however, a dynamic hexapod system capable of moving at linear speeds of up to ±1 m/s in all three linear directions and rotational speeds of up to 100o/s in all three rotational directions, can be used to simulate such wind gusts. The proposed RTI equipment is capable of doing such motions. The development of such advanced control strategies for UAV, specifically allowing them to fly autonomously in gusty conditions, would be a significant breakthrough and would further enhance Canada's competitiveness in the field. As such, it would ensure that the HQPs trained on this RTI equipment will have unique knowledge and capabilities that numerous aerospace companies, including CAE Inc, Humanitas, SkyX and Kinova, would find invaluable. A total of 15 HQPs are expected to be trained on this RTI equipment within the next two years alone, with numerous more in the years to come.