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Developing stochastic model of thrust and flight dynamics for small UAVs.

机译：为小型无人机开发推力和飞行动力学的随机模型。

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摘要

This thesis presents a stochastic thrust model and aerodynamic model for small propeller driven UAVs whose power plant is a small electric motor. First a model which relates thrust generated by a small propeller driven electric motor as a function of throttle setting and commanded engine RPM is developed. A perturbation of this model is then used to relate the uncertainty in throttle and engine RPM commanded to the error in the predicted thrust. Such a stochastic model is indispensable in the design of state estimation and control systems for UAVs where the performance requirements of the systems are specied in stochastic terms. It is shown that thrust prediction models for small UAVs are not a simple, explicit functions relating throttle input and RPM command to thrust generated. Rather they are non-linear, iterative procedures which depend on a geometric description of the propeller and mathematical model of the motor. A detailed derivation of the iterative procedure is presented and the impact of errors which arise from inaccurate propeller and motor descriptions are discussed. Validation results from a series of wind tunnel tests are presented. The results show a favorable statistical agreement between the thrust uncertainty predicted by the model and the errors measured in the wind tunnel. The uncertainty model of aircraft aerodynamic coefficients developed based on wind tunnel experiment will be discussed at the end of this thesis.
机译：本文提出了一种小型螺旋桨驱动无人机的随机推力模型和气动模型，该无人机的动力装置是小型电动机。首先，建立了一个模型，该模型将小型螺旋桨驱动的电动机产生的推力与节气门设置和指令发动机转速相关联。然后使用该模型的扰动将节气门和发动机RPM的不确定性与预测推力的误差相关联。这种随机模型在用于无人机的状态估计和控制系统的设计中是必不可少的，在该系统中，系统的性能要求是用随机术语指定的。结果表明，用于小型无人机的推力预测模型不是将油门输入和RPM命令与所产生推力相关联的简单明示函数。而是它们是非线性的，迭代的过程，取决于螺旋桨的几何描述和电动机的数学模型。给出了迭代过程的详细推导，并讨论了由于不正确的螺旋桨和电机描述而引起的误差的影响。提出了一系列风洞测试的验证结果。结果表明，该模型预测的推力不确定性与风洞中测得的误差之间具有良好的统计一致性。本文最后将讨论基于风洞实验开发的飞机空气动力系数不确定性模型。

著录项

  • 作者

    Tjhai, Chandra.;

  • 作者单位

    University of Minnesota.;

  • 授予单位 University of Minnesota.;
  • 学科 Engineering Aerospace.
  • 学位 M.S.
  • 年度 2013
  • 页码 86 p.
  • 总页数 86
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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