Mathematical Modelling and Control of an Unmanned Aerial Vehicle with Moving Mass Control Concept
| العنوان: | Mathematical Modelling and Control of an Unmanned Aerial Vehicle with Moving Mass Control Concept |
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| المؤلفون: | Stjepan Bogdan, Tomislav Haus, Matko Orsag |
| المصدر: | Journal of Intelligent & Robotic Systems. 88:219-246 |
| بيانات النشر: | Springer Science and Business Media LLC, 2017. |
| سنة النشر: | 2017 |
| مصطلحات موضوعية: | 0209 industrial biotechnology, Engineering, Lift (data mining), business.industry, Payload, Mechanical Engineering, Testbed, UAV, Internal combustion engine, Moving mass, Root locus, Control engineering, 02 engineering and technology, Gimbal, Degrees of freedom (mechanics), Industrial and Manufacturing Engineering, Attitude control, 020303 mechanical engineering & transports, 020901 industrial engineering & automation, 0203 mechanical engineering, Artificial Intelligence, Control and Systems Engineering, Control theory, Sensitivity (control systems), Electrical and Electronic Engineering, business, Software |
| الوصف: | In this paper we present a novel concept of attitude control for a multi-rotor unmanned aerial vehicle by actively controlling its center of gravity. This research is a part of our efforts to build a heavy lift multi-rotor platform capable of carrying over 50 kg of payload. To that end, we propose using miniature two-stroke combustion engines to supply the necessary lift and combine them with moving masses used to control the vehicle attitude. In this paper we present a complete nonlinear dynamical model of such a vehicle and use it to derive the transfer functions of roll and pitch dynamics. Furthermore, we formulate a detailed root-locus based stability and sensitivity analysis of the proposed control scheme and discuss its underlining effect on the mechanical parameter design. We present the experimental testbed, consisted of the vehicle mounted on a 2 degrees of freedom gimbal, and derive necessary conditions for testbed parameters in order to match the testbed and free-flight quadrotor dynamics. Finally, we present simulation results from a Gazebo based simulator and experimental results of the testbed. Both results confirm the findings of our mathematical analysis. |
| تدمد: | 1573-0409 0921-0296 |
| URL الوصول: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f6022d149274906b3b9b4db266315fcd https://doi.org/10.1007/s10846-017-0545-2 |
| حقوق: | CLOSED |
| رقم الأكسشن: | edsair.doi.dedup.....f6022d149274906b3b9b4db266315fcd |
| قاعدة البيانات: | OpenAIRE |
Find this article in full text from Springer Verlag. | تدمد: | 15730409 09210296 |
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