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Modeling and Control of a Quadrotor in a Wind Field.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Modeling and Control of a Quadrotor in a Wind Field./
作者:	Tran, Nguyen Khoi.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2015,
面頁冊數:	95 p.
附註:	Source: Masters Abstracts International, Volume: 82-10.
Contained By:	Masters Abstracts International82-10.
標題:	Microelectromechanical systems. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28251574
ISBN:	9798597022321

Modeling and Control of a Quadrotor in a Wind Field.
Tran, Nguyen Khoi.

Modeling and Control of a Quadrotor in a Wind Field. - Ann Arbor : ProQuest Dissertations & Theses, 2015 - 95 p.

Source: Masters Abstracts International, Volume: 82-10.

Thesis (M.E.)--McGill University (Canada), 2015.

This item must not be sold to any third party vendors.

In recent years, there has been a surge of interest in the use of small unmanned air vehicles (UAVs) for various civilian and military applications. Many of the proposed applications are outdoor and may include environments with high wind. The relatively small size of quadrotors means that wind gusts can destabilize the quadrotor if the on-board flight controller is not equipped to deal with wind effects. This work investigates the ability of a quadrotor to maneuver in a wind field and develops a method to cope with wind disturbances. A dynamic model of a quadrotor is presented to model its motion. The quadrotor model includes a wind effect model to quantify the effect of wind on the dynamics of a quadrotor. A proportional-integral-derivative (PID) controller is shown as a baseline controller typically used on quadrotors. A LQR controller is then shown as an alternative to a PID controller. These two controllers are compared in a simulation environment using the wind effect model and simulated wind disturbances. Both controllers are found to have similar performance in a wind field, though the LQR controller is found to be easier to tune. These experiments were then repeated using the AscTec Pelican quadrotor platform in an indoor environment. A feedforward controller was developed which uses the wind effect model and a custom onboard wind sensor to generate control inputs that oppose the disturbance forces and moments. In simulation, the feedforward controller was effective in improving control performance while experimentally, the feedforward control was not effective due to wind sensing errors.

ISBN: 9798597022321Subjects--Topical Terms:

567138
Microelectromechanical systems.
Subjects--Index Terms:

Microelectromechanical systems

Modeling and Control of a Quadrotor in a Wind Field.
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245 1 0 $a Modeling and Control of a Quadrotor in a Wind Field.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2015
300 $a 95 p.
500 $a Source: Masters Abstracts International, Volume: 82-10.
500 $a Advisor: Nahon, Meyer.
502 $a Thesis (M.E.)--McGill University (Canada), 2015.
506 $a This item must not be sold to any third party vendors.
520 $a In recent years, there has been a surge of interest in the use of small unmanned air vehicles (UAVs) for various civilian and military applications. Many of the proposed applications are outdoor and may include environments with high wind. The relatively small size of quadrotors means that wind gusts can destabilize the quadrotor if the on-board flight controller is not equipped to deal with wind effects. This work investigates the ability of a quadrotor to maneuver in a wind field and develops a method to cope with wind disturbances. A dynamic model of a quadrotor is presented to model its motion. The quadrotor model includes a wind effect model to quantify the effect of wind on the dynamics of a quadrotor. A proportional-integral-derivative (PID) controller is shown as a baseline controller typically used on quadrotors. A LQR controller is then shown as an alternative to a PID controller. These two controllers are compared in a simulation environment using the wind effect model and simulated wind disturbances. Both controllers are found to have similar performance in a wind field, though the LQR controller is found to be easier to tune. These experiments were then repeated using the AscTec Pelican quadrotor platform in an indoor environment. A feedforward controller was developed which uses the wind effect model and a custom onboard wind sensor to generate control inputs that oppose the disturbance forces and moments. In simulation, the feedforward controller was effective in improving control performance while experimentally, the feedforward control was not effective due to wind sensing errors.
520 $a Depuis quelques annees, il y a un interet flechissant pour l'utilisation des petits vehicules aeriens sans pilote (UAV) dans diverses applications civiles et militaires. Plusieurs des applications proposees se trouvent a l'exterieur et donc, incluent des environnements avec de forts vents. A cause de la taille relativement petite des quadrirotor, une rafale de vent peut les destabiliser facilement si le controleur de vol n'a pas ete concu pour compenser les effets du vent.Cette etude se penche sur la capacite d'un de ces vehicules a manoeuvrer dans un environnement venteux et le developpement d'un controlleur pourrant faire face aux perturbations du au vent. Un modele dynamique d'un quadrirotor est presente afin de modeliser son comportement dynamique. Le modele inclue une modelisation du vent visant a quantifier son effet sur la dynamique du vehicule. Un controleur proportionnel integral derivatif (PID) est presente comme controleur de base (generalement utilise sur les quadrirotor). Une Commande Lineaire Quadratique (LQR) est aussi demontre comme alternatif au PID. Les performances de ces deux controleurs sont comparees dans une simulation incorporant les perturbations du vent utilisant le modele des effets du vent. Les resultats des deux controleurs sont comparables mais les gains de la Commande LQ sont plus facile a ajuster. Les experiences ont ete repetees avec un quadrirotor AscTec Pelican dans un environnement interieur. Un controleur predictif (feedforward) utilisant le modele des effets du vent et un capteur de vent embarque, concu specialement pour le quadrirotor, a ete implemente pour generer des commandes qui resistent les effets du aux vent. Dans la simulation, le controleur predictif ameliorait grandement la performance. Par contre dans l'experience interieure, le controleur n'avait pas un grand effet a cause des erreurs de mesure du capteur.
590 $a School code: 0781.
650 4 $a Microelectromechanical systems. $3 567138
650 4 $a Global positioning systems--GPS. $3 3559357
650 4 $a Velocity. $3 3560495
650 4 $a Gravity. $3 535300
650 4 $a Conventions. $3 3562375
650 4 $a Sensors. $3 3549539
650 4 $a Controllers. $3 3559217
650 4 $a Design. $3 518875
650 4 $a Surveillance. $3 3559358
650 4 $a Feedback. $3 677181
650 4 $a Airships. $3 3687063
650 4 $a Mechanical engineering. $3 649730
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653 $a Airships
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710 2 $a McGill University (Canada). $3 1018122
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