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Modeling and Controller Design of a Single Bladed Aerial Vehicle

Ebrahimi Dormiyani, Mehrdad | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47115 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Banazadeh, Afshin; Saghafi, Fariborz
  7. Abstract:
  8. In this thesis, multi-body modeling of a monocopter air vehicle is developed based on the Newton-Euler approach along with nonlinear simulation in vertical flight phases consist of climb, hover and descent. Aerodynamic and thrust forces and moments are modeled utilizing blade element momentum theory. The sole control surface is modeled like a conventional flap on a wing. Free flight simulation is implemented in MATLAB Simulink environment to appraise the behavior of the monocopter dynamic and to show the efficiency and productivity of the suggested model. Simulation results present harmonic oscillations in Euler angles, linear and angular velocities that are compatible with the physics and mathematical base. Static stability of the vehicle is obvious in free flight by careful choice of flight initial conditions. As the second aim of this thesis the position control of monocopter are down using Linear Quadratic Control. So the nonlinear equations of motion are linearized about hover trim condition and the state space model equations are derived. In order to position control two control inputs are considered, flap and motor throttle. Hover flight control is performed and simulations demonstrate desirable LQR performance in monocopter position control. The presented multi-body model is useful for comparative study and design purposes
  9. Keywords:
  10. Position Control ; Single Bladed Vehicle ; Monocopter ; Maple Seed ; Multi-Body Modeling ; Aerodynamic Modeling ; Linear Quadratic Control

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