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Dynamic Analysis of Single-Blade Aerial Vehicle and Model Predictive Control for Hovering and Forward Flight

Ezabadi, Mostafa | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50925 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Banazadeh, Afshin; Saghafi, Fariborz
  7. Abstract:
  8. In this research work, modeling, simulation, and controller design for a single-blade aerial vehicle or monocopter are carried out. The combined Momentum and Blade-Element theory is used to calculate the aerodynamic forces and moments. The Newton-Euler approach is employes for the development of the six degrees of freedom equations of motion of the monocopter. The obtained mathematical model is then implemented and solved on computer using MATLAB Simulink environment. A periodic behavior of the states is observed which is compatible with reality. Also, sensitivity studies are carried out in order to better understand how different initial conditions affect the behavior of the monocopter. The monocopter trim conditions are the found and it is shown that having different trim point is also possible. Further studies have been done on the effect of different forms of flap input on the monocopter dynamical responses. What is found is that the translational movement is only possible by applying a cyclic flap input with the same frequency as the rotation frequency of the monocopter. In the second part of this study, the methods of PID and MPC are employed to design a controller for vertical and translational flight phases based on the linear model of the monocopter, and the results are compared
  9. Keywords:
  10. Simulation ; Modeling ; Predictive Control ; Proportional-Integral-Derivative (PID)Controller ; Forward Flight ; Single Bladed Vehicle ; Hover Flight

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