Revisited Dos Samara UnmannedAerial Vehicle: Design and ControlK. Alexis, A. TzesDepartment of Electrical & Computer Engin...
MotivationICRA ’12 – Revisited Dos Samara UAV: Design & Control 2UPAT Quadrotor
MotivationICRA ’12 – Revisited Dos Samara UAV: Design & Control 3On-going Tri-Tilt-Rotor platform: Good stability charact...
MotivationICRA ’12 – Revisited Dos Samara UAV: Design & Control 4MechanicalComplexityMechanical Simplicity(less and simple...
Structure of Presentation1. Concept2. Aircraft Design & Flying Principles3. System Modeling4. Quadrotor Control Approaches...
Main ConceptICRA ’12 – Revisited Dos Samara UAV: Design & Control 6NASA Conceptual DesignHelicopter mode: Samara-like blad...
Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 7
Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 8Roll: Moment due to thedifferent...
Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 9Helicopter Mode1. Tail Motor is ...
Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 10Samara-like propellers are rota...
Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 11Lift & Drag Forces of each blad...
Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 12Control Surfaces also produce L...
Modeling & Control (Helicopter Mode)ICRA ’12 – Revisited Dos Samara UAV: Design & Control 131. Model the Rigid BodyDynamic...
Modeling & Control: Nonlinear ModelICRA ’12 – Revisited Dos Samara UAV: Design & Control 14ForcesMoments
Modeling & Control:Linearization for Cascade ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 15Linerization f...
Modeling & Control:Linearization for Cascade ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 16Attitude Dynam...
Modeling & Control: LQ Hovering ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 17LQR ControlLQ-Tracking Cont...
Modeling & Control: LQ Hovering ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 18Based on the appropriate se...
ConclusionsICRA ’12 – Revisited Dos Samara UAV: Design & Control 19Convertible UAVs pose significant advantagesNew Concept...
Thank you20Questions:kostalexis@ece.upatras.gr
Samara PropellerICRA ’12 – Revisited Dos Samara UAV: Design & Control 21BatteryMicrocontrollerWirelessTransmition forTesti...
Upcoming SlideShare
Loading in …5
×

K. Alexis, A. Tzes, "Revisited Dos Samara Unmanned Aerial Vehicle: Design and Control", ICRA 2012

1,482 views

Published on

Published in: Technology, Business
  • dsouzaaugustine35@gmail.com
       Reply 
    Are you sure you want to  Yes  No
    Your message goes here
  • share me more knowledge on uav rotor blades used for uav helicopters
       Reply 
    Are you sure you want to  Yes  No
    Your message goes here

K. Alexis, A. Tzes, "Revisited Dos Samara Unmanned Aerial Vehicle: Design and Control", ICRA 2012

  1. 1. Revisited Dos Samara UnmannedAerial Vehicle: Design and ControlK. Alexis, A. TzesDepartment of Electrical & Computer Engineering,University of Patras, Greece 1
  2. 2. MotivationICRA ’12 – Revisited Dos Samara UAV: Design & Control 2UPAT Quadrotor
  3. 3. MotivationICRA ’12 – Revisited Dos Samara UAV: Design & Control 3On-going Tri-Tilt-Rotor platform: Good stability characteristics in rotorcraft more. Unsteady transition. Experience is gained through the development of this platformC. Papachristos, K. Alexis, A. Tzes
  4. 4. MotivationICRA ’12 – Revisited Dos Samara UAV: Design & Control 4MechanicalComplexityMechanical Simplicity(less and simplemoving parts)Developing andTesting Tilt-RotorsUPAT Tilt-TriRotorInvestigating new approaches
  5. 5. Structure of Presentation1. Concept2. Aircraft Design & Flying Principles3. System Modeling4. Quadrotor Control Approaches5. LQ-ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 5
  6. 6. Main ConceptICRA ’12 – Revisited Dos Samara UAV: Design & Control 6NASA Conceptual DesignHelicopter mode: Samara-like blades rotate to generatelift. Control needs active wing-panels (introducingcomplexity).Fixed Wing Mode: Dos Samara-like blades act as wings.Propulsion is provided using a tail motorHelicopter mode: Samara-like blades rotate togenerate lift. Due to the servo on the tail-rotorcontrol is achieved in a Tri-rotor manner. Thus itcan be simpler. Surfaces below the rotor canprovide thrust vectoring and control yaw.Fixed Wing Mode: Samara-like blades act aswings. Propulsion is provided using a tail motor.Surfaces below the rotor act as additionalailerons. Revisited Dos Samara
  7. 7. Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 7
  8. 8. Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 8Roll: Moment due to thedifferential thrust of the 2 Samara-like propellersPitch: Moment imbalance betweenthe front 2 rotors and the tail rotor.Yaw: Moment sue to thedifferential lift produced from theControl Surfaces below the 2Samara-like rotors.Further phenomena taken intoaccount in the modeling phase.Helicopter Mode:Fixed-Wing Mode:Tail Motor is rotated so that it acts asthe propulsion engine.Fixed wing panels have ailerons,while the control surfaces can be alsoutilized for more agile control.
  9. 9. Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 9Helicopter Mode1. Tail Motor is rotated toprovide forwardacceleration2. Control Surfaces aresmoothly set planar andthe Samara propellersbrake smoothly3. Once proper forward accelerationis achieved the Samara propellersare locked in Fixed-Wing ModeFixed-Wing Mode
  10. 10. Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 10Samara-like propellers are rotated using DC-Brushless MotorsEach Samara-like propeller must be balanced sothat despite it is a Monoblade it does notproduce undesired vibrations. The balance isachieved by putting (the electronics as)counterweights.2 Different Samara-like propellers can be used:• Passive monoblade where lift is controlled bychanging the motor speed• Active which employs an active flapmechanism to modify the produced lift. Thiscan lead to even faster dynamics.Lift (CL), Drag (CD) coefficients analysisusing XFOIL (NACA4008 + Active Flap)
  11. 11. Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 11Lift & Drag Forces of each blade (Tail Motor multiplied by 3)Thrust experimentally measured using Samara-like blade following the NACA4008 profile:
  12. 12. Aircraft Design & Flying PrinciplesICRA ’12 – Revisited Dos Samara UAV: Design & Control 12Control Surfaces also produce Lift-Drag forces. LiftForce is used to control Yaw, forward flight inHelicopter mode and provide agile maneuverabilityin Fixed-Wing mode.Lift (CL) – Drag (CD)coefficients analyzedusing XFOIL
  13. 13. Modeling & Control (Helicopter Mode)ICRA ’12 – Revisited Dos Samara UAV: Design & Control 131. Model the Rigid BodyDynamics2. Derive theAerodynamic Forces& Moments Wrench3. Define howactuators canproduce theWrench4. Design acontrol lowthat commandsthe actuator inorder to trackthe referencesignals
  14. 14. Modeling & Control: Nonlinear ModelICRA ’12 – Revisited Dos Samara UAV: Design & Control 14ForcesMoments
  15. 15. Modeling & Control:Linearization for Cascade ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 15Linerization for Control: The fact that the attitude dynamics are considerably faster than thetranslational dynamics enable the capability to treat these two subsystems as cascadedcontrol. This assumption must be revisited for special forward flight controllers where thereis strong aerodynamic coupling.
  16. 16. Modeling & Control:Linearization for Cascade ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 16Attitude Dynamics Translational Dynamicsroll,Pitch,yaw
  17. 17. Modeling & Control: LQ Hovering ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 17LQR ControlLQ-Tracking ControllerRe-formulating forTracking ControlOptimal gain theLQ sense
  18. 18. Modeling & Control: LQ Hovering ControlICRA ’12 – Revisited Dos Samara UAV: Design & Control 18Based on the appropriate selection of the Penalty matrices the following Simulation Studiesindicate the performance of the controller.Attitude Response Position Response
  19. 19. ConclusionsICRA ’12 – Revisited Dos Samara UAV: Design & Control 19Convertible UAVs pose significant advantagesNew Concepts can provide less mechanicalcomplexityA Revisited Dos Samara model was studied and afirst analysis was achieved.As a next step the Samara-blade properties will beexperimentally analyzed. The actuation is the mainchallenge for the Dos Samara UAV
  20. 20. Thank you20Questions:kostalexis@ece.upatras.gr
  21. 21. Samara PropellerICRA ’12 – Revisited Dos Samara UAV: Design & Control 21BatteryMicrocontrollerWirelessTransmition forTestingActive Flap ServoPassive VersionActive Version

×