6642

6193

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1390

نه، 104ص.: مصور، جدول، نمودار

ص.ع. به فارسي و انگليسي

سعيد بهبهاني

محمود اشرفي زاده

9/2/91

محمد جعفر صديق، محمد دانش

1396/10/12

كتابنامه

مكانيك

مهندسي مكانيك

ID6193

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Analysis of Dynamics Maneuverability and Flight Control of Quadrotor Mohsen Yaraghi M yaraghi@me iut ac ir 25th of September 2011 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiSupervisor Dr Saeed Behbahani behbahani@cc iut ac irAbstractNowadays unmanned aerial vehicles UAV are widely used in view of their applications and capabilities Quadrotor UAV is a kind of rotary wing vehicle with a flight mechanism that contains four motors andpropellers installed in four corners of the main frame Since the attack angles of the propellers do not change the lift force changes solely with the change of the rotors rotation speeds Moreover rotation direction of anyrotor is fixed and is perpendicular to the main frame In order to neutralize aerodynamic torques and todecrease gyroscopic effects the rotation direction of two rotors is in the opposite direction of the other tworotors In this research activity after analysis of dynamic equations the controller and motion trajectoryalgorithm are designed From control viewpoint the overall objective is to control linear velocities of theaircraft as well as its yaw angle The dynamic of the system is in a form that its roll and pitch angles aredetermined depending on the variation rate of the linear velocities As a result the control mechanismconsidered for this vehicle is a two loop controller In the outer loop we have utilized an integrator proportional controller while a fuzzy parallel distributed compensation PDC controller and a sliding modecontroller are designed for the inner loop In PDC controller a nonlinear fuzzy model of the system ispresented by expressing the nonlinear dynamic equations of the rotation of the system as a fuzzy combinationof linear equations Subsequently by designing the controller for each linear subsystem the overall nonlinearcontroller is computed as a fuzzy combination of the linear controllers In designing the sliding modecontroller by definition of separate sliding surfaces for each rotational angle of the system the control law isdesigned in a way that the system state from an arbitrary initial condition converges to these surfaces Then the system state tends to its desired value while remaining on the sliding surface The designed controllers areverified and also compared to each other by simulation of the flight under some benchmark paths Moreover the robustness of the designed controllers against existence of uncertainty and disturbance are evaluated byconsidering uncertainty over mass and inertial momentum matrix of the aircraft as well as by applyingdisturbance force and torque to the system After designing the controller a path planning algorithm isproposed where assuming that the kinematics specifications of the starting and destination points aredetermined the path is generated with the aim to minimize the time while meeting the physical constraintsof the vehicle The motion equations are considered as polynomial functions of time in a way to satisfyboundary conditions i e position velocity acceleration and jerk of starting and destination points of thetrajectory The coefficients of the polynomials are then calculated for moving in minimum time Keywords Quadrotor Unmanned Aerial Vehicles Fuzzy PDC Controller Sliding ModeController Path Design

سعيد بهبهاني

محمود اشرفي زاده

محمد جعفر صديق، محمد دانش