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Title:System identification for development of distributed electric propulsion vertical take-off vehicles
Author(s):Patterson, Andrew Paul
Advisor(s):Hovakimyan, Naira
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Subject(s):System identification
Distributed electric propulsion
Abstract:This thesis presents a complete procedure for estimating the inertia matrix of a multi-rotor vertical take-off and landing vehicle. The procedure starts with an overview of vehicle dynamics. An estimator and a controller are introduced based on these dynamics, which can be tuned to the desired performance specifications. Once the vehicle is flying, data is collected and system identification starts. Several methods of inertia estimation are covered that are simple to implement but still take into account the constraints of symmetry in the inertia matrix. A new method of calculating the inertia is then introduced, which takes in the additional constraint of non-negativity. Each of these methods is compared using multi-sine test inputs generated to optimize performance without driving the system unstable. Finally, both simulation and implementation results are provided. Though inertia estimation is common, the method presented in this thesis is cost effective, requiring almost no extra measurement equipment; it is algorithmically simple, using only the necessary computations; and this thesis completely describes the steps necessary to implement and estimate a vehicle’s inertia.
Issue Date:2017-04-27
Rights Information:Copyright 2017 Andrew Patterson
Date Available in IDEALS:2017-08-10
Date Deposited:2017-05

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