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Dynamics and Control of Flexible Quadrotor Aircraft.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Dynamics and Control of Flexible Quadrotor Aircraft./
Author:	Smith, Christopher S.
Description:	1 online resource (188 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 85-05, Section: B.
Contained By:	Dissertations Abstracts International85-05B.
Subject:	Unmanned aerial vehicles. -
Online resource:	click for full text (PQDT)
ISBN:	9798380724555

Dynamics and Control of Flexible Quadrotor Aircraft.
Smith, Christopher S.

Dynamics and Control of Flexible Quadrotor Aircraft. - 1 online resource (188 pages)

Source: Dissertations Abstracts International, Volume: 85-05, Section: B.

Thesis (Ph.D.)--The Pennsylvania State University, 2023.

Includes bibliographical references

Quadrotor UAV configurations have been used with great success throughout industry and show potential for scaling to larger sizes suitable for high payload capacities, including passengers. As the size increases, the flexible properties of the structure can influence the flight dynamics of the system. Contained in this work is a detailed derivation of the equations of motion for a notional quadrotor with a flexible structure. The beams connecting the motors to the central control unit are flexible in three degrees of freedom: vertical bending, horizontal bending and torsion. Natural frequencies of simplified systems have been computed, and a simple proportional-derivative (PD) controller is designed and simulated assuming a rigid frame. This baseline controller is exercised in the flexible system, and results in poor flight performance. A robust Optimal Sliding Gaussian (OSG) control scheme is designed using a rigid linear model to be robust to the unmodeled flexible dynamics. The OSG controller is demonstrated in a six-degree-of-freedom flight simulation which includes non-linear aerodynamics due to dynamic stall of the rotor blades during forward flight. The OSG controller is able to achieve stable, controlled, flight where the baseline PD controller failed. Additionally, exploitation of the torsional flexibility of the connecting beams to increase the available control authority in the horizontal plane is explored. An OSG control scheme is designed and tested in a linear rigid simulation and a nonlinear flight simulation to demonstrate the utility of the new control authority. The linear and nonlinear flight simulations show that horizontal motion without the use of overall vehicle tilt is possible by twisting of the quadrotor frame members.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380724555Subjects--Topical Terms:

1372845
Unmanned aerial vehicles.
Subjects--Index Terms:

Quadrotor aircraftIndex Terms--Genre/Form:

554714
Electronic books.

Dynamics and Control of Flexible Quadrotor Aircraft.
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520 $a Quadrotor UAV configurations have been used with great success throughout industry and show potential for scaling to larger sizes suitable for high payload capacities, including passengers. As the size increases, the flexible properties of the structure can influence the flight dynamics of the system. Contained in this work is a detailed derivation of the equations of motion for a notional quadrotor with a flexible structure. The beams connecting the motors to the central control unit are flexible in three degrees of freedom: vertical bending, horizontal bending and torsion. Natural frequencies of simplified systems have been computed, and a simple proportional-derivative (PD) controller is designed and simulated assuming a rigid frame. This baseline controller is exercised in the flexible system, and results in poor flight performance. A robust Optimal Sliding Gaussian (OSG) control scheme is designed using a rigid linear model to be robust to the unmodeled flexible dynamics. The OSG controller is demonstrated in a six-degree-of-freedom flight simulation which includes non-linear aerodynamics due to dynamic stall of the rotor blades during forward flight. The OSG controller is able to achieve stable, controlled, flight where the baseline PD controller failed. Additionally, exploitation of the torsional flexibility of the connecting beams to increase the available control authority in the horizontal plane is explored. An OSG control scheme is designed and tested in a linear rigid simulation and a nonlinear flight simulation to demonstrate the utility of the new control authority. The linear and nonlinear flight simulations show that horizontal motion without the use of overall vehicle tilt is possible by twisting of the quadrotor frame members.
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653 $a Aerodynamics
653 $a Payload capacities
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