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A tilt-wing VTOL UAV configuration study: flight dynamics modeling, simulation, states estimation, control, systems integration and flight testing

Daud Filho, Antonio Carlos

Biblioteca Digital de Teses e Dissertações da USP; Universidade de São Paulo; Escola de Engenharia de São Carlos 2023-02-06

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  • Título:
    A tilt-wing VTOL UAV configuration study: flight dynamics modeling, simulation, states estimation, control, systems integration and flight testing
  • Autor: Daud Filho, Antonio Carlos
  • Orientador: Belo, Eduardo Morgado
  • Assuntos: Controle De Voo; Voo De Transição; Uav; Testes De Voo; Vtol; Simulação; Equações De Movimento Multi-Corpos; Filtro De Kalman; Multi-Body Equations Of Motion; Transition Flight; Flight Control; Flight Testing; Kalman Filter; Simulation
  • Notas: Tese (Doutorado)
  • Descrição: This thesis presents a vertical take-off and landing unmanned aerial vehicle (VTOL UAV) configuration. It has the capacity to tilt the canard and wing along with two attached propellers. Additionally, there are two fixed front propellers pointing upwards. A multi-body equations of motion are derived for this concept of aircraft, which are used to compute the flight transition trajectory from hover to cruise configuration. Furthermore, a transition control algorithm based on gain scheduling is described, which stabilizes the aircraft while it accelerates from hover to cruise, gradually tilting the wing along with the propellers, sequentially switching between equilibrium states. The transition control algorithm is numerically simulated for the conceptual aircraft model. An aircraft prototype is designed and built. States estimation algorithms based on the discrete Kalman filter are derived in order to compute the aircraft flight states from the on-board sensors measurements. Controls algorithms are described for possible flight configurations: hovering configuration with attitude control, attitude plus altitude controls, attitude plus altitude plus position control, and transition flight control. The algorithms were written in C programming language, and embedded in the prototype on-board Arduino Due microcontroller board. Flight tests were successfully conducted in an indoor and outdoor environment for the hovering configuration, the flight states were transmitted and saved in a ground station, so the flight tests results are presented and discussed.
  • DOI: 10.11606/T.18.2023.tde-27032023-153150
  • Editor: Biblioteca Digital de Teses e Dissertações da USP; Universidade de São Paulo; Escola de Engenharia de São Carlos
  • Data de criação/publicação: 2023-02-06
  • Formato: Adobe PDF
  • Idioma: Inglês
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  • Realização: ABCD-USP USP   Logos de Redes Sociais: Freepik

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