Transition flight control of bioinspired flapping-wing micro air vehicle using gain-scheduling LQR controller = 이득 스케줄 LQR 제어기를 이용한 생체 모방 날갯짓 비행체의 천이비행 제어

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Flapping insects have inspired many engineers to work on their unsteady aerodynamics and inherently unstable flight dynamics due to their stable and agile flight performance with only one pair of wing. Although many engineers have been developing bioinspired flapping-wing micro air vehicle (FWMAV) to mimic their excellent flight performance, many of them have limited performance, because unsteady aerodynamics, flight dynamics and control algorithms of bioinspired FWMAV are not thoroughly understood. In this study, transition flight control of bioinspired FWMAV is achieved using reference tracking augmented gain-scheduling LQR controller by setting up a simulation environment that couples quasi-steady aerodynamic forces and moment, which is based on experimentally obtained aerodynamic coefficient, to 3-DOF longitudinal equations of motion of bioinspired FWMAV modeled in this study. Parametric study with respect to various body pitch attitudes (from $50^\circ$ to $90^\circ$ with $10^\circ$ increments) and forward flight speeds (from 0.0 m/s to 1.0 m/s with 0.25 m/s increments) is performed to investigate their role on the longitudinal flight dynamic stability and aerodynamic power consumption. Then, based on the parametric study results, power efficient design operating points are chosen to design gain-scheduling LQR controller that tracks desired forward flight speed and body pitch attitude while maintaining its controller performance.
Advisors
Han, Jae-Hungresearcher한재흥researcher
Description
한국과학기술원 :항공우주공학과,
Publisher
한국과학기술원
Issue Date
2016
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학과, 2016.2 ,[vi, 59 p. :]

Keywords

Flapping-wing Micro Air Vehicle; Flight Dynamic Characteristics; Forward Flight; Body Pitch Angle; Transition Flight; LQR Control; 날갯짓 비행체; 비행 동특성; 전진 비행; 비행 자세각; 천이비행; LQR 제어

URI
http://hdl.handle.net/10203/222032
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=649749&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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