Assessing multi-rotor UAV controllability in low altitude fine-scale wind fields
Name
1145123370-MIT.pdf
Size
8.89 MB
Format
Adobe PDF
Checksum (MD5)
3d83a1959f3908540b911a427e2dd4de
Author(s)
List, Alexander Hoekje.
Advisor(s)
R. John Hansman.
Alternative Title
Assessing multi-rotor unmanned aerial vehicle controllability in low altitude fine-scale wind fields
Date Issued
2019
Publisher
Massachusetts Institute of Technology
Abstract
This study presents a means of assessing unmanned aerial vehicle (UAV) control in various environments using control margin. The metric gives an instantaneous measure of control authority and is defined by dividing required torque by maximum available torque. Required torque is the sum total of torque developed by a vehicle's rotors and residual terms representing the torque required to compensate for any remaining disturbances. The metric was demonstrated on a representative small quadrotor UAV in real world and laboratory environments. Utilizing only rotor revolutions per second and inertial measurement unit information, the metric indicates degraded control in conditions consistent with loss of control. This metric may ultimately be useful in understanding the low level wind environment, for certification of vehicles, or for real-time monitoring of control authority.
Description
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (page 79).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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