University of Twente Student Theses
Energy-efficient trajectory control for variable-tilt drones by exploiting the aerodynamic proximity effect close to surfaces
Sisavanh, Fabian (2022) Energy-efficient trajectory control for variable-tilt drones by exploiting the aerodynamic proximity effect close to surfaces.
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Abstract: | In this thesis, an approach has been developed to take advantage of the aerodynamic effects close to surfaces, commonly knows as proximity effect, for a variable tilt multirotor platform. The effect influences the thrust characteristics generated by the propeller, especially when the propeller is in a tilted configuration with respect to the surface. A model describing the proximity effect has been incorporate into the control allocation for an optimal actuation for near ground operation. The same effect can be leverage to minimize the energy consumption by reducing the spinning velocity of the propellers while flying near ground surfaces. To this end, a cost function is designed, and gradient descent optimization is applied to guide the system towards minimum energy consumption. The optimization does not interfere with the primary control object by utilizing the null-space of the control allocation. Several flight scenarios near the ground surface are simulated and compared to a reference scenario without the proximity effect. The results indicate that the controller is capable of rejecting the disturbance cause by the change in thrust and can adapt accordingly. In addition, the energy consumed during the flight period is lower in comparison to the reference. In conclusion, a variable tilt multirotor platform can take advantage of the proximity effect while operating close to ground surfaces to reduce the energy consumption. With the increase of exposer time to surfaces, the energy difference will grow significantly and extend the total flight time. Especially, application in aerial physical interaction have the tendency to fly close to objects or surfaces will benefit from exploiting the proximity effect. |
Item Type: | Essay (Master) |
Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
Subject: | 50 technical science in general |
Programme: | Systems and Control MSc (60359) |
Link to this item: | https://purl.utwente.nl/essays/93263 |
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