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Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs

Jiskra, Patrick (2016) Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs. Master's. DLR-Interner Bericht. DLR-IB-RM-OP-2016-262.

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Abstract

The Chair of Helicopter Technology at the Technische Universität München (TUM) together with the Institute of Robotics and Mechatronics of the Deutsches Zentrum für Luft-und Raumfahrt (DLR) are developing an Autonomous Rotorcraft for Extreme Altitudes (AREA). The Flying Robots group as part of the DLR-Institute of Robotics and Mechatronics is especially interested in Un- manned Aerial Vehicles (UAVs) with Vertical Take-Off and Landing (VTOL) capabilities. VTOL UAVs are often operated in harsh environments where landing becomes a challenging maneuver. To provide save landing procedures, a realistic contact model of the physical interaction between the VTOL UAV’s landing skids and the landing surface is elaborated in this thesis. This contact model is integrated into a complete simulation model to provide a representation of the helicopter dynam- ics for the process of landing and analysis of ground resonance phenomena. Therefore, helicopter dynamics are elaborated in Maple, a software from Maplesoft for symbolic computing. The result- ing equations of motion are exported to MATLAB code which is implemented into Simulink using embedded MATLAB blocks to provide time histories of the dynamic system. The resulting Simulink model is then adjusted using experimental data from a vibration test, where natural frequencies and mode damping are determined. In order to investigate the phenomenon of ground resonance, Coleman plots are elaborated. A simple model used for the Coleman analysis, is compared to the elaborated simulation model. Due to the rotor configuration, gravity and aerodynamics are succes- sively implemented in the model and its effects on ground resonance are examined. No significant effects are found as ground resonance is mainly driven by inertial forces. Due to the stiff-in-plane rotor blades of the AREA prototype and hinge damping in the rotor hub, ground resonance is found unlikely to occur. Finally, a landing approach is simulated and verified with recorded flight data of four flights where a good accordance is found.

Item URL in elib:https://elib.dlr.de/109628/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Contact Modeling and Experimental Validation for Start and Landing of VTOL UAVs
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Jiskra, PatrickPatrick.Jiskra (at) tum.deUNSPECIFIED
Date:October 2016
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:contact modeling, VTOL UAVs, helicopter dynamics, helicopter aerodynamics, helicopter parameter identification
Institution:Technical University of Munich (TUM)
Department:Department of Mechanical Engineering, Chair of Helicopter Technology
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: Maier, Moritz
Deposited On:20 Dec 2016 10:43
Last Modified:20 Dec 2016 10:43

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