Experimental design of a mono-ducted-fan VTOL aircraft

无人机(UAV)在危险和/或难以接近的环境中执行预期任务时非常重要。能够设计出高度机动和极其稳定的垂直起降(VTOL)无人机是对空中机器人领域的重要贡献，因为潜在的民用和军事应用是巨大的(例如，高层建筑和古迹调查、救援任务、监视等)。在实际应用中，无人机的空间位置通常由操作者利用机载摄像头的视觉反馈通过远程控制系统进行控制，而姿态则通过机载控制器自动稳定。姿态控制器是一个重要的功能，因为它允许飞行器保持期望的方向，从而防止飞行器在飞行员执行期望的机动时翻转和坠毁。该项目的主要目标是：1)利用轻质复合材料设计一种小型单管风扇垂直起降飞行器。2)开发了一个基于DSP的嵌入式控制系统，用于实时实现申请人最近开发的姿态估计和控制算法。

Unmanned aerial vehicles (UAVs) are very important when it comes to performing a desired task in a dangerous and/or unaccessible environment. Being able to design a vertical takeoff and landing (VTOL) UAV which is highly maneuverable and extremely stable is an important contribution to the field of aerial robotics since potential civil and military applications are tremendous (e.g., high buildings and monuments investigation, rescue missions, surveillance, etc). In practical applications, the position in space of the UAV is generally controlled by an operator through a remote control system using a visual feedback from an on-board camera, while the attitude is automatically stabilized via an on-board controller. The attitude controller is an important feature since it allows the vehicle to maintain a desired orientation and hence prevents the vehicle from flipping over and crashing when the pilot performs the desired maneuvers. The principal objectives of this project are: 1) Design a small-size mono-ducted-fan VTOL aircraft using lightweight composite materials. 2) Develop a DSP-based embedded control system for real-time implementation of the attitude estimation and control algorithms recently developed by the applicant.