Utjecaj dinamičkog kočenja propulzora na ponašanje mutlirotorske letjelice

master's thesis

• Title (english): Influence of Dynamic Braking of Propulsor on Multirotor UAV Performance
• Author: Stribor Badanjek
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-09-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Potreba za sve ve´com brzinom i agilnosti postavila je nove zahtjeve na dinamiku
propulzora. U prvim se generacijama za koˇcenje propulzora koristio otpor zraka, dok
novije generacije koriste dinamiˇcko koˇcenje propulzora. U ovom se radu ispituje utjecaj
dinamicˇkog kocˇenja na ponašanje letjelice. U tu svrhu izrad¯en je simulink model
letjelice kako bi se u kontroliranom i sigurnom okruženju mogli obaviti testovi. Napravljen
je i niz stvarnih mjerenja na letjelici u svrhu validacije dobivenog modela.
Za modeliranje propulzora korišteni su podatci o generiranom zakretnom momentu
dobiveni pomoc´u izrad¯ene mjerne platforme. Tokom procesa validacije ustanovljeno
je da ovako dobiveni model ne opisuje željenu dinamiku propulzora dovoljno dobro te
ga nije mogu´ce koristiti u daljnjem razmatranju.
Izvršena je površna analiza korištenjem mjerenja iz crne kutije. Uz ukljuˇceno dinami
ˇcko koˇcenje dobivamo konzistentnije rezultate za razliˇcite vrijednosti gasa i širi
raspon upravljaˇckih veliˇcina. Pri nižim obrtajima motora bez dinamiˇckog koˇcenja dolazi
do oscilatornog vladanja, dok je vladanje u podruˇcju viših obrtaja prihvatljivije jer
je otpor zraka ve´ci pa je i koˇcenje jaˇce.

Abstract (english)

The need for higher speed and agility has put new demands on propulsor dynamic.
The first generations of propulsors used air resistance for braking while new generations
use dynamic braking of propulsors. This paper tests the influence of dynamic
braking on drone performance. A simulink drone model was made in order to run tests
in a controlled and safe environment. A number of real measurements were taken on a
drone in order to validate the obtained model.
The data on generated torque used to model propulsors were obtained through the
measuring platform were. During the validation it was established that the obtained
model does not describe the desired dynamics of the propulsors well enough and it
should not be used for further consideration.
A cursory analysis was done using measurements from the black box. If we include
dynamic braking, we get more consistent results for various throttle values and
a wider range of control values. Oscilations occur at lower motor speed without dynamic
braking while at higher speed the performance is more acceptable due to higher
air resistance which enables better braking.

• Keywords: Dron; dinamicko kocenje; estimacija parametara
• Keywords (english): Multirotor UAV; dynamic braking; parameter estimation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:632362
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 18:44:21