東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

FindBook

Google Book

Amazon

博客來

Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft./
作者:	Willis, Jacob B.
面頁冊數:	1 online resource (86 pages)
附註:	Source: Masters Abstracts International, Volume: 83-01.
Contained By:	Masters Abstracts International83-01.
標題:	Computer engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28538398click for full text (PQDT)
ISBN:	9798522940072

Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft.
Willis, Jacob B.

Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft. - 1 online resource (86 pages)

Source: Masters Abstracts International, Volume: 83-01.

Thesis (M.Sc.)--Brigham Young University, 2021.

Includes bibliographical references

The development of high-energy-density batteries, advanced sensor technologies, and advanced control algorithms for multirotor electric vertical takeoff and landing (eVTOL) unmanned aerial vehicles (UAVs) has led to interest in using these vehicles for a variety of applications including surveillance, package delivery, and even human transportation. In each of these cases, the ideal vehicle is one that can maneuver in congested spaces, but is efficient for traveling long distances. The combination of wings and vectored thrust make winged eVTOLs the obvious choice. However, these aircraft experience a much wider range of flight conditions that makes them challenging to model and control. This thesis contributes an aerodynamic model and a planning and control method for small, 1-2 m wingspan, winged eVTOLs. We develop the aerodynamic model based on first-principles, lumped-element aerodynamics, extending the lift and drag models to consider high-angle-of-attack flight conditions using models proposed in the literature. We present two methods for generating spline trajectories, one that uses the singular value decomposition to find a minimum-derivative polynomial spline, and one that uses B-splines to produce trajectories in the convex hull of a set of waypoints. We compare the quality of trajectories produced by both methods. Current control methods for winged eVTOL UAVs consider the vehicle primarily as a fixed-wing aircraft with the addition of vertical thrust used only during takeoff and landing. These methods provide good long-range flight handling but fail to consider the full dynamics of the vehicle for tracking complex trajectories. We present a trajectory tracking controller for the full dynamics of a winged eVTOL UAV in hover, fixed-wing, and partially transitioned flight scenarios. We show that in low- to moderate-speed flight, trajectory tracking can be achieved using a variety of pitch angles. In these conditions, the pitch of the vehicle is a free variable that we use to minimize the necessary thrust, and therefore energy consumption, of the vehicle. We use a geometric attitude controller and an airspeed-dependent control allocation scheme to operate the vehicle at a wide range of airspeeds, flight path angles, and angles of attack. We provide theoretical guarantees for the stability of the proposed control scheme assuming a standard aerodynamic model, and we present simulation results showing an average tracking error of 20 cm, an average computation rate of 800 Hz, and an 85% reduction in tracking error versus using a multirotor controller for low-speed flight.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798522940072Subjects--Topical Terms:

621879
Computer engineering.
Subjects--Index Terms:

Trajectory generationIndex Terms--Genre/Form:

542853
Electronic books.

Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft.
LDR:04088nmm a2200409K 4500 001 2354015
005 20230324111136.5
006 m o d
007 cr mn ---uuuuu
008 241011s2021 xx obm 000 0 eng d
020 $a 9798522940072
035 $a (MiAaPQ)AAI28538398
035 $a (MiAaPQ)BrighamYoung9961
035 $a AAI28538398
040 $a MiAaPQ $b eng $c MiAaPQ $d NTU
100 1 $a Willis, Jacob B. $3 3694354
245 1 0 $a Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft.
264 0 $c 2021
300 $a 1 online resource (86 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Masters Abstracts International, Volume: 83-01.
500 $a Advisor: Beard, Randal W.; Peterson, Cameron K.; McLain, Timothy W.
502 $a Thesis (M.Sc.)--Brigham Young University, 2021.
504 $a Includes bibliographical references
520 $a The development of high-energy-density batteries, advanced sensor technologies, and advanced control algorithms for multirotor electric vertical takeoff and landing (eVTOL) unmanned aerial vehicles (UAVs) has led to interest in using these vehicles for a variety of applications including surveillance, package delivery, and even human transportation. In each of these cases, the ideal vehicle is one that can maneuver in congested spaces, but is efficient for traveling long distances. The combination of wings and vectored thrust make winged eVTOLs the obvious choice. However, these aircraft experience a much wider range of flight conditions that makes them challenging to model and control. This thesis contributes an aerodynamic model and a planning and control method for small, 1-2 m wingspan, winged eVTOLs. We develop the aerodynamic model based on first-principles, lumped-element aerodynamics, extending the lift and drag models to consider high-angle-of-attack flight conditions using models proposed in the literature. We present two methods for generating spline trajectories, one that uses the singular value decomposition to find a minimum-derivative polynomial spline, and one that uses B-splines to produce trajectories in the convex hull of a set of waypoints. We compare the quality of trajectories produced by both methods. Current control methods for winged eVTOL UAVs consider the vehicle primarily as a fixed-wing aircraft with the addition of vertical thrust used only during takeoff and landing. These methods provide good long-range flight handling but fail to consider the full dynamics of the vehicle for tracking complex trajectories. We present a trajectory tracking controller for the full dynamics of a winged eVTOL UAV in hover, fixed-wing, and partially transitioned flight scenarios. We show that in low- to moderate-speed flight, trajectory tracking can be achieved using a variety of pitch angles. In these conditions, the pitch of the vehicle is a free variable that we use to minimize the necessary thrust, and therefore energy consumption, of the vehicle. We use a geometric attitude controller and an airspeed-dependent control allocation scheme to operate the vehicle at a wide range of airspeeds, flight path angles, and angles of attack. We provide theoretical guarantees for the stability of the proposed control scheme assuming a standard aerodynamic model, and we present simulation results showing an average tracking error of 20 cm, an average computation rate of 800 Hz, and an 85% reduction in tracking error versus using a multirotor controller for low-speed flight.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2023
538 $a Mode of access: World Wide Web
650 4 $a Computer engineering. $3 621879
650 4 $a Geographic information science. $3 3432445
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Electrical engineering. $3 649834
650 4 $a Aircraft. $3 832698
650 4 $a Simulation. $3 644748
650 4 $a Planning. $3 552734
650 4 $a Optimization. $3 891104
650 4 $a Controllers. $3 3559217
650 4 $a Mapping. $3 3355992
650 4 $a Unmanned aerial vehicles. $3 3560267
650 4 $a Methods. $3 3560391
650 4 $a Literature reviews. $3 3559998
650 4 $a Vehicles. $3 2145288
653 $a Trajectory generation
653 $a Tracking control
653 $a Winged electric vertical takeoff
653 $a Landing aircraft
655 7 $a Electronic books. $2 lcsh $3 542853
690 $a 0544
690 $a 0464
690 $a 0370
690 $a 0538
710 2 $a ProQuest Information and Learning Co. $3 783688
710 2 $a Brigham Young University. $3 1017451
773 0 $t Masters Abstracts International $g 83-01.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28538398 $z click for full text (PQDT)