Control of multirotor unmanned aerial vehicle based on moving mass concept : doctoral thesis - Haus, Tomislav; Bogdan, Stjepan (Zagreb : T. Haus, Fakultet elektrotehnike i računarstva, 2017)
U okviru ove disertacije predlaže se koncept upravljanja kutovima poniranja i valjanja bespilotne višerotorske letjelice (UAV) zasnovan na dinamičkom pozicioniranju središta mase. Predlaže se korištenje koncepta na letjelici s četiri benzinska motora sposobnoj podići teret do 50 kg uz vrijeme leta do 60 min. Kao aktuator za upravljanje središtem mase predlaže se mehanizam pomičnih masa s vlastitim servo sustavom. Izveden je nelinearni matematički model letjelice s pomičnim masama koji je potom lineariziran kako bi se dobio pojednostavljeni model pogodan za sintezu sustava upravljanja. Za upravljanje letjelicom predlaže se nekoliko algoritama, uključujući kaskadno upravljanje s proporcionalnim kontrolerima, upravljanje u prostoru stanje i upravljanje zasnovano na istovremenom korištenju promjena brzina rotora i promjena središta mase letjelice. Predloženi koncept i algoritmi testirani su u simulacijskom okruženje te na nekoliko eksperimentalnih postava. Konačno, koncept je eksperimentalno potvđen na izrađenoj letjelici s pomičnim masama i električnim motorima.
Disertacijom su ostvareni sljedeći izvorni znanstveni doprinosi:
• Metoda upravljanja kutovima poniranja i valjanja bespilotne višerotorske letjelice zasnovana na konceptu pomičnih masa,
• Analiza dinamičkih i statičkih karakteristika bespilotne višerotorske letjelice s benzinskim motorima i pomičnim masama zasnovana na izvedenom matematičkom modelu i identifikaciji parametara,
• Adaptivni algoritam upravljanja bespilotnom višerotorskom letjelicom s benzinskim motorima i pomičnim masama koji kompenzira promjene središta mase i momenta inercije.
Ključne riječi
bespilotna višerotorska letjelica (UAV), upravljanje pomičnim masama (MMC), koncept upravljanja pozicijom ventila (VPC), krivulja mjesta korijena, Routh-Hurwitzov kriterij, zajednička kvadratična Ljapunovljeva funkcija (CQLF), Gazebo simulacija
In this thesis the Moving Mass Control concept is proposed for roll and pitch control of a multirotor Unmanned Aerial Vehicle. The concept relies on shifting the Center of Gravity (CoG) of the vehicle, which in turn controls the rolling and pitching moments. The concept is proposed for a heavy lift quadrotor powered by four Internal Combustion Engines, capable of lifting a 50 kg payload and staying airborne for up to 60 min. Moving mass mechanism, driven by a servo motor in each vehicle arm, is proposed in order to control the CoG position. A nonlinear mathematical model of the quadrotor vehicle with moving masses is derived. The model is analyzed and reduced to obtain linear models suitable for control design. Several control algorithms are proposed for this type of vehicle, including cascade control with proportional controllers, state-space control and control that combines rotors’ variations and CoG shift. Proposed concept and algorithms are tested in a simulation environment and on several experimental testbeds. Finally, the concept is experimentally verified on a designed aerial vehicle with moving masses and electrical engines.
The following original scientific contributions are achieved with this thesis:
• A method for roll and pitch control of a multirotor unmanned aerial vehicle based on the moving mass concept,
• Analysis of dynamical and static characteristics of a multirotor unmanned aerial vehicle with internal combustion engines and moving masses based on the derived mathematical model and parameter identification,
• Adaptive control algorithm for a multirotor unmanned aerial vehicle with internal combustion engines and moving masses which compensates for changes of the center of mass and moment of inertia.
Keywords
Unmanned Aerial Vehicle (UAV), Moving Mass Control (MMC), Mid-ranging control, Valve Position Control (VPC), Root-locus analysis, Routh-Hurwitz criterion, Common Quadratic Lyapunov Function (CQLF), Gazebo simulation
Bibliografija str. 147-156.