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Modelling and Control of a Fixed-wing UAV for Landings on Mobile Landing Platforms

Balmer, Georg Robert (2015) Modelling and Control of a Fixed-wing UAV for Landings on Mobile Landing Platforms. Master's. DLR-Interner Bericht. DLR-IB 572-2015/35, 73 S.

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Official URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-176881

Abstract

Landing on mobile landing platforms could eliminate the need for landing gear. This would particularly benefit high altitude solar UAV, which typically have a very limited payload. Such landings would however require a precise and decoupled control of the UAV’s altitude and speed. In this thesis, a small UAV is modelled, and a flight control system suitable for such landings is developed. The aerodynamic properties of the UAV were estimated using the vortex lattice method. Propeller performance data was obtained from the manufacturer and used in the propulsion model. The complete UAV model was validated using data from test flights. A comparison of period and damping of the dynamic modes showed a good agreement (<10% error) with the flight data, except for the phugoid damping, which was too low in the model. The model was used to design two flight control systems, one consisting of three SISO loops for altitude, airspeed and course; and another using a TECS-based controller for airspeed and altitude. Extensive testing in simulation and flight revealed a superior performance of the TECS-based controller, especially in the ability to decouple altitude and airspeed responses.

Item URL in elib:https://elib.dlr.de/102038/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Modelling and Control of a Fixed-wing UAV for Landings on Mobile Landing Platforms
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Balmer, Georg RobertGeorg.Balmer (at) dlr.deUNSPECIFIED
Date:29 October 2015
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:73
Status:Published
Keywords:flight dynamics flight control unmanned aerial vehicle total energy control MIMO control UAV TECS
Institution:KTH Royal Institute of Technology
Department:School of Engineering Sciences
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Balmer, Georg
Deposited On:13 Jan 2016 09:46
Last Modified:31 Jul 2019 19:59

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