University of Twente Student Theses
Multirotors embedding elastic sensors to measure arm deflections : system modeling and control
Bahaa, S. (2022) Multirotors embedding elastic sensors to measure arm deflections : system modeling and control.
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| Abstract: | In state-of-the-art UAVs, the input to the control scheme - which affects the position and orientation of the UAV - is considered to be the thrust forces of the propellers. However, the actual input to the control scheme that has any effect on the system is, in fact, the angular velocity of the rotors. A direct relation is drawn between the rotor velocity and the thrust force, which is a very crude estimation that does not allow for the most efficient control of the vehicle in cases like: change in air-density, malfunctions, presence of other objects in the vicinity. This research builds up on the findings of an alumnus of the University of Twente, E.B. (Bernard) Prakken, who explored the implementation of strain gauges in a multirotor UAV. In his research, these strain gauges are used to estimate the thrust force, which in turn are fed into the control scheme to improve the stability of the system. |
| Item Type: | Essay (Bachelor) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Programme: | Electrical Engineering BSc (56953) |
| Link to this item: | https://purl.utwente.nl/essays/92262 |
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