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Autonomus Helicopter Landing on a Mobile Platform.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2011 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In this thesis we investigate the problem of landing a helicopter autonomously on a mobile

platform by designing controllers for the attitude- and translational dynamics in parallel. A

mathematical model of the helicopter, in form of general 6-degrees-of-freedom rigid-body dynamics

with application-specific actuations, is developed. A linearized model is used in order

to make a landing problem more tractable, which is also rather reasonable under landing constraints,

where small angle- and velocity approximations are valid. The inputs used for the

attitude controller are the tail rotor thrust and the tip-path-plane angles. Then, a form of

cascaded control is adopted for the translational dynamics, in which the inputs are the Euler

angles together with the main rotor thrust. The resulting control system is tested by MATLAB

simulations against a smooth position reference path, with satisfying results. For the landing

scenario, a trajectory planning strategy based on linear model predictive control (MPC) is

adopted. The cascaded control system is then used to track the translational reference trajectory.

The translational reference trajectory is chosen such that the attitude dynamics is

adapted to the attitude of the platform at touch-down.

Abstract [sv]

Den här uppsatsen undersöker problemet att autonomt landa en modellhelikopter på en mobil

plattform genom att använda olika regulatorer för attityd- och translationsdynamiken. Den

matematiska beskrivningen av helikoptern utgår från dynamiken för en stel kropp med 6 frihetsgrader.

Eftersom landning kan genomföras med låga hastigheter och små vinklar används

en linjär modell för att göra problemet mer lätthanterligt. Insignalerna till systemet är kraften

från stjärtrotorn och lutningsvinklarna av huvudrotorns Tip-Path-Plane. En kaskadregulator

används för att styra translationssystemet med eulervinklarna och kraften från huvudrotorn,

som insignaler. Regulatorn testas i en MATLAB-simulering mot en glatt referensbana med

godkända resultat. För landingsproceduren används en banplaneringsstrategi som bygger på

linjär prediktiv reglering (PR). Kaskadregulatorn används sedan för att följa translationsreferenserna,

vilka blir valda så att även attitydsystemet anpassas efter plattformens attityd i

landningsögonblicket.

Place, publisher, year, edition, pages
2011. , 71 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-105551OAI: oai:DiVA.org:kth-105551DiVA: diva2:571430
Uppsok
Technology
Supervisors
Available from: 2012-11-22 Created: 2012-11-22 Last updated: 2013-02-18Bibliographically approved

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