Unmanned Aerial Vehicles (UAVs), particularly autonomous versions, are increasingly relevant in several fields, including human activity, nature observation, and actuation. This work explores an often overlooked quest...
详细信息
ISBN:
(纸本)9798350377217;9798350377200
Unmanned Aerial Vehicles (UAVs), particularly autonomous versions, are increasingly relevant in several fields, including human activity, nature observation, and actuation. This work explores an often overlooked question: the impact of flight control algorithms and their parameterization on the energy efficiency of UAV electronics. Using a highly configurable and comprehensive simulation environment, it evaluates the energy required to run specific controlalgorithms with varying parameters in a processor, while other UAV tasks are accomplished in other processors of a multiprocessor core. Experiments in energy saving mode show it is feasible to decrease the energy taken to run the control algorithm alone by 16.67%, while a maximum performance mode allows for more precise UAV operation, whenever required.
A dynamic model and a nonlinear path following flightcontroller for multiple quadrotors carrying a rigid-body slung payload are proposed. By using cables to connect many quadrotors to a payload, their transportation ...
详细信息
ISBN:
(数字)9781624105784
ISBN:
(纸本)9781624105784
A dynamic model and a nonlinear path following flightcontroller for multiple quadrotors carrying a rigid-body slung payload are proposed. By using cables to connect many quadrotors to a payload, their transportation capacities are boosted significantly. Kane's method is used to obtain the equations of motion for the multi-body system. The cables are attached to the center of mass of each quadrotor so the attitude dynamics of each quadrotor is decoupled from the rest of the system. In order to safely perform a transportation task, a nonlinear flightcontroller is designed to achieve stable flight. The controller has a cascade structure. The outer loop is firstly designed as a virtual path following controller which stabilizes the payload and the quadrotor translational motion along a given straight line by assuming that the lift vector can point instantaneously to a desired direction. The payload is also maintained at a given attitude during the flight. Then an attitude controller is implemented on each quadrotor to point the actual lift to the reference direction obtained by the outer loop. Finally, the inner loop and the outer loop are combined as the complete controller. Simulations show that the controller is capable of asymptotically stabilizing the payload on the desired path and attitude.
Modern computational fluid dynamic simulations of flows about naval vessels produce an enormous amount of flow-field data. The computations are performed in order to model details of the erratic unsteady flows that ca...
详细信息
ISBN:
(数字)9781624105517
ISBN:
(纸本)9781624105517
Modern computational fluid dynamic simulations of flows about naval vessels produce an enormous amount of flow-field data. The computations are performed in order to model details of the erratic unsteady flows that can occur about naval superstructures. The flow-field data can then be used in flight simulators for naval pilot training purposes. Often, however, far too much data are generated for the flight simulators to process in real-time. This paper demonstrates the use of both proper orthogonal decomposition and Fourier series decomposition approaches for airwake dataset compression. The proper orthogonal decomposition method is used for compressing airwake data in the time domain, and Fourier series decomposition is used for compressing airwake data in the spatial coordinates. The approaches are applied to airwake data for a simplified frigate vessel model. A separate aircraft tanker configuration is also examined in order to demonstrate that the level of numerical precision can have an effect on the dataset compression results. Both approaches are effective at reducing airwake dataset size while preserving the dominant flow-field features, and both approaches are inexpensive and straightforward to implement. The level of dataset compression ultimately depends on the level of accuracy required by the user.
The present work deals with the design and validation of a formation flightcontrol algorithm able to manage five aircraft simulated using a linear model representative of a a medium altitude, long endurance unmanned ...
详细信息
ISBN:
(数字)9781624107047
ISBN:
(纸本)9781624107047
The present work deals with the design and validation of a formation flightcontrol algorithm able to manage five aircraft simulated using a linear model representative of a a medium altitude, long endurance unmanned airplane. The proposed approach is based on the artificial potential field and it is validated both in bi-dimensional and three-dimensional spaces. Even though the aircraft models are time-invariant, the external environment is simulated to be time-variant. In fact, within the simulation it is possible to simulate intruders, or object moving with its own dynamics, and no-fly zones.
This paper details the successful takeoff and landing of a wing-tip-connected meta aircraft prototype. The aircraft consisted of two commercial off-the-shelf high wing trainers connected wing tip to wing tip with thre...
详细信息
This paper details the successful takeoff and landing of a wing-tip-connected meta aircraft prototype. The aircraft consisted of two commercial off-the-shelf high wing trainers connected wing tip to wing tip with three neodymium magnets. The flightcontroller on board each aircraft was a Raspberry Pi 3B complete with Navio2 flightcontroller. The software running on the aircraft was built using Emlid developer libraries with custom C++ wrappers for the inner-loop control system. The flightcontrol algorithm reads state information and seeks to move the aircraft to a desired attitude depending on pilot inputs. The pilot commands both aircraft, and each flightcontroller responds independently to these inputs. No communication between aircraft was necessary to ensure stability. Simulation results are included to highlight successful performance of the controller with one aircraft and two connected aircraft.
暂无评论