Investigation of Flight Dynamics and Controls for a Solar-Tracker-Mounted UAV
Abstract
For effective and efficient onboard energy supply, a vertical take-off/landing UAV (multicopter)mounting a dual axis solar tracker is proposed and studied. For early stage of research for theproposed system, we will focus on simulations of its flight dynamics, and stability, performance androbustness of using Model Predictive Control for the system. By using Lagrange’s equation, dynamic modelling of each system will be observed individually. For the tracking system, Euler parameter will be used to avoid gimbal lock problem in describing its motion. Because of high performance, model predictive control will be implemented, and compared to PID controller. For the combined system, Lagrange’s equation will be applied for its dynamic modelling, and again the both controllers will be used and compared. In the control system of the flying vehicle, an IMU (Inertial Measurement Unit) consisting of a gyroscope, an accelerometer and a magnetometer will be used to measure angular velocity, acceleration, and its surrounding magnetic field. To achieve flight stability and control accuracy by improving measurement accuracy, gyro drift rate will be estimated by using quaternion Kalman filter. With the tracking system onboard, center of mass and moment of inertia of the flying vehicle, which will vary momentarily, will be estimated by using extended Kalman filter (EKF). Robustness of the system will be observed with considering the existence of disturbance due to wind velocity and turbulent.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jul 28, 2017
- Source ID
- FA23861710148
Entities
People
- Sarot Srang
Organizations
- Air Force Office of Scientific Research
- Institute of Technology of Cambodia
- United States Air Force