Conception Mod Lisation Et Commande D Un Mini Drone Convertible
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Conception, Modélisation, Et Commande D'un Mini-drone Convertible
There is a growing interest to design convertible aerial vehicles that can hover like helicopters and fly forward efficiently like airplanes. This thesis is devoted to the conception, modeling, and control of such a convertible mini-UAV (Unmanned Aerial Vehicle). The main contributions of this work are threefold. Firstly, we design a novel UAV structure by adding to each side of a quadrotor one wing that can rotate around an axis belonging to the propellers' plane. Our prototype has many advantages over existing convertible structures: simple mechanical concept since inspired by a classical quadrotor, flexibility for selecting different components (wings, propellers), flexibility for the control design, etc. Secondly, we provide an energy modeling of this type of convertible UAVs, taking into account their characteristics as compared to full-scale helicopters (large variation of aerodynamic forces, performance degradation at low Reynolds number, etc.). Finally, as for the control design, the degrees of freedom of the wings permit the decoupling between propellers and wings' orientations. This greatly enhances the control flexibility as compared to traditional aircraft. Relying on this feature, several control approaches are proposed. In particular, using a specific geometrical design, we show that an efficient control of our UAV can be obtained without air-velocity measurements. Simulation results confirm the soundness of our control design even in the presence of strong and varying wind. En route to validate the theory, a mechanical prototype of the UAV was constructed in our laboratory and preliminary flight tests were performed.
Introduction au contrôle des mini-drones : de la conception à la mise en œuvre - Modélisation, identification et synthèse des lois de commande
Author: Joël Bordeneuve-Guibé
language: fr
Publisher: Editions Ellipses
Release Date: 2020-09-22
Le développement des mini-drones dans le secteur civil est aujourd’hui un secteur en pleine expansion. Comment modéliser ces engins ? Comment concevoir les lois de commande permettant de les contrôler ? L’objectif de cet ouvrage est de présenter des méthodes d’ingénierie issues de l’automatique permettant de répondre à ces questions. Plus précisément, cet ouvrage est dédié à la modélisation, à l’identification et à la synthèse de lois de commandes spécifiques à l'avionique des mini-drones.
Conception, Modélisation Et Commande D'un Drone Convertible
The goal of this thesis is developing a convertible unmanned aerial vehicle (UAV). The project is divided in three objects : the design, the modeling and the control of the vehicle. The design of the vehicle is a trade-off between a fixed-wing vehicle (airplane) and a rotary-wing vehicle (helicopter), thanks to this combination it offers a great versatility to face different kind of missions. The modeling is obtained through the Newton-Euler and Lagrange formulation. In terms of control, the convertible aircraft require specific algorithms to manipulate the take-off, the haver, the forward flight and the transition between both operation modes.