System identification for development of distributed electric propulsion vertical take-off vehicles
Patterson, Andrew Paul
Loading…
Permalink
https://hdl.handle.net/2142/97340
Description
Title
System identification for development of distributed electric propulsion vertical take-off vehicles
Author(s)
Patterson, Andrew Paul
Issue Date
2017-04-27
Director of Research (if dissertation) or Advisor (if thesis)
Hovakimyan, Naira
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
System identification
Distributed electric propulsion
Abstract
This thesis presents a complete procedure for estimating the inertia matrix of a multi-rotor vertical take-off and landing vehicle. The procedure starts with an overview of vehicle dynamics. An estimator and a controller are introduced based on these dynamics, which can be tuned to the desired performance specifications. Once the vehicle is flying, data is collected and system identification starts. Several methods of inertia estimation are covered that are simple to implement but still take into account the constraints of symmetry in the inertia matrix. A new method of calculating the inertia is then introduced, which takes in the additional constraint of non-negativity. Each of these methods is compared using multi-sine test inputs generated to optimize performance without driving the system unstable. Finally, both simulation and implementation results are provided.
Though inertia estimation is common, the method presented in this thesis is cost effective, requiring almost no extra measurement equipment; it is algorithmically simple, using only the necessary computations; and this thesis completely describes the steps necessary to implement and estimate a vehicle’s inertia.
Use this login method if you
don't
have an
@illinois.edu
email address.
(Oops, I do have one)
IDEALS migrated to a new platform on June 23, 2022. If you created
your account prior to this date, you will have to reset your password
using the forgot-password link below.
