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System Identification, Design and Flight Testing H∞ Controllers for Heave Dynamics of RUAV

Keppler, Manuel (2014) System Identification, Design and Flight Testing H∞ Controllers for Heave Dynamics of RUAV. Diploma. DLR-Interner Bericht. 572-2014/27, 126 S.

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Abstract

Focus of this thesis was the improvement of the vertical flight performance of the small-scaled, unmanned, autonomous DLR helicopters HE-1 and HE-2 by employing an advanced model-based controller. The success of the final design was to be analyzed in flight experiments and benchmarked against the original flight controller. We cover the development of a basic three rigid body model for the helicopter HE-1. The heave (vertical) dynamics of the mechanical model was extended by the aerodynamic effect called heave dampening. Unknown parameters of the heave dynamics model were determined with the Prediction Error Minimization (PEM) system identification method. Necessary flight data was recorded in specially designed test flights. The decision for the controller concept was made in favor of H-infinity control due to its desirable characteristics, such as MIMO capability and its robustness performance for systems subject to (parameter) uncertainties and external disturbances. Based on the final heave dynamics model, various H-infinity controller designs, such as (i) S/KS/T mixed sensitivity optimization, (ii) signal-based H-infinity control, (iii) 1 degree-of-freedom loop shaping design, (iv) 2 degree-offreedom loop shaping design were realized and compared in simulation. The most promising design (iv) was then implemented on the HE-2 on-board flight controller and benchmarked in flight experiments versus the original cascaded PID controller. Based on the analyzed data, suggestions on how to further improve the controller are given.

Item URL in elib:https://elib.dlr.de/94490/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:System Identification, Design and Flight Testing H∞ Controllers for Heave Dynamics of RUAV
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Keppler, ManuelManuel.Keppler (at) dlr.deUNSPECIFIED
Date:5 December 2014
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:126
Status:Published
Keywords:H-infinity Control, Helicopter, Dynamics, System Identification
Institution:Vienna University of Technology
Department:Institute of Mechanics and Mechatronics
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 Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Keppler, Manuel
Deposited On:12 Jan 2015 11:31
Last Modified:31 Jul 2019 19:51

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