Flight Dynamics and System Identification for Modern Feedback Control
Avian-Inspired Robots
Gebonden Engels 2013 9780857094667Samenvatting
Unmanned air vehicles are becoming increasingly popular alternatives for private applications which include, but are not limited to, fire fighting, search and rescue, atmospheric data collection, and crop surveys, to name a few. Among these vehicles are avian-inspired, flapping-wing designs, which are safe to operate near humans and are required to carry payloads while achieving manoeuverability and agility in low speed flight. Conventional methods and tools fall short of achieving the desired performance metrics and requirements of such craft. Flight dynamics and system identification for modern feedback control provides an in-depth study of the difficulties associated with achieving controlled performance in flapping-wing, avian-inspired flight, and a new model paradigm is derived using analytical and experimental methods, with which a controls designer may then apply familiar tools. This title consists of eight chapters and covers flapping-wing aircraft and flight dynamics, before looking at nonlinear, multibody modelling as well as flight testing and instrumentation. Later chapters examine system identification from flight test data, feedback control and linearization.
Specificaties
Lezersrecensies
Inhoudsopgave
List of figures
List of tables
Nomenclature
Preface
About the authors
Chapter 1: Introduction
Abstract:
1.1 Background and motivation
1.2 Bio-inspired flapping wing aircraft
1.3 Flapping-wing literature review
1.4 Scope and contributions of current research
Chapter 2: Ornithopter test platform characterizations
Abstract:
2.1 Mathematical representation of an aircraft
2.2 Ornithopter aircraft description
2.3 Measurements from flight data
2.4 Configuration-dependent mass distribution
2.5 Quasi-hover aerodynamics
2.6 Implications for flight dynamics modeling
2.7 Chapter summary
Chapter 3: Rigid multibody vehicle dynamics
Abstract:
3.1 Model configuration
3.2 Kinematic equations of motion
3.3 Dynamic equations of motion
3.4 Chapter summary
Chapter 4: System identification of aerodynamic models
Abstract:
4.1 System identification method
4.2 Tail aerodynamics
4.3 Wing aerodynamics
4.4 Chapter summary
Chapter 5: Simulation results
Abstract:
5.1 Software simulation architecture
5.2 Determining trim solutions
5.3 Numerical linearization about straight and level mean flight
5.4 Modeling implications for control
5.5 Chapter summary
Chapter 6: Concluding remarks
Abstract:
6.1 Summary of work
6.2 Summary of modeling assumptions
6.3 Summary of original contributions
6.4 Recommendations for future research
Appendix A: Field calibration of inertial measurement units
Appendix B: Actuator dynamics system identification
Appendix C: Equations of motion for single-body flight vehicles
Appendix D: Linearization of a conventional aircraft model
References
Index
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