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Dynamic Modeling of a Quadrotor UAV Transporting a Variable Mass Payload Suspended by Continuous Flexible Cable

Baha, Mirshams | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51612 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. Quadrotors are one of the most popular unmanned aerial vehicle (UAVs) that has been subject of extensive research in recent years. One of the most important applications of these aerial vehicles is transporting a cable-suspended payload from one point to another. The major challenge in modeling of this system is dynamic coupling which exist between all components of the system i.e. payload, cable and quadrotor. The purpose of this research is mathematical modeling and dynamic analysis of the system in presence of this dynamic coupling and considering the effects of cable's flexibility. In this regard, it is assumed that the payload has variable mass. In this thesis, in the first step, by considering the cable inertia, its lack of flexibility and quadrotor as rigid body, mathematical modeling of the system is drived through Newton-Euler and Euler-Lagrange methods and the equations of motion which are the type of ODE, are shown. In the next step, numerical simulation and dynamic analysis of the model is done to illustrate performance features of the system. Then, by considering cable as a continuous flexible element, the system is modeled and the governing equations which here is a combination of ODE and PDE differential equations are derived. Scince, this set of equations are very complicated and solving them precisely, requires high knowledge in the field of numerical methods, here, by defining some scenarios, the system is simulated in steady and quasi steady conditions and the result of the simulation is presented to display the motion shape of the system, especially the cable during flight
  9. Keywords:
  10. Dynamic Modeling ; Quadrotor with Slung Payload ; Mass Load with Variable Center ; Flexible Cable ; Transport ; Lagrangian Method

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