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Modeling and Control of an Active Dihedral Fixed-Wing Unmanned Aircraft

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dc.contributor.authorFisher, Ryan Douglasen
dc.contributor.committeechairWoolsey, Craig A.en
dc.contributor.committeememberRaj, Pradeepen
dc.contributor.committeememberButler, William Michaelen
dc.contributor.departmentAerospace and Ocean Engineeringen
dc.date.accessioned2022-06-22T08:00:31Zen
dc.date.available2022-06-22T08:00:31Zen
dc.date.issued2022-06-21en
dc.description.abstractUnmanned aircraft systems (UAS) often encounter turbulent fields that perturb the aircraft from its desired target trajectory, or in a manner that increases the load factor. The aircraft's fixed dihedral angle, providing passive roll-stiffness, is often selected based on lateral-directional stability requirements for the vehicle. A study to predict the effect of an active dihedral system on lateral-directional stability and vertical gust rejection capability was conducted to assess the performance and feasibility of the system. Traditionally, the dihedral location begins at the root to maintain wing structural requirements, however, the active dihedral system was also evaluated for dynamic stability and gust rejection performance at alternative dihedral breakpoint locations. Simulations were completed using linear parameter-varying (LPV) models, derived from traditional Newtonian aircraft dynamics and associated kinematic equations, to improve the modeling of the nonlinear active dihedral system. The stability of the LPV system was evaluated using Lyapunov stability theory applied to switched linear systems, assessing bounds of operation for the dihedral angle and flapping rate. An ideal feedback controller was developed using a linear–quadratic regulator (LQR) for both a discrete gust model and a continuous gust model, and a gain scheduled LQR controller was implemented to show the benefits of gain scheduling with a parameter varying state and input model. Finally, a cost analysis was conducted to investigate the real-world benefit of altering the dihedral breakpoint location. The effects of the active dihedral system on battery capacity and consumption efficiency were observed and compared with the gust rejection authority.en
dc.description.abstractgeneralUnmanned aircraft systems (UAS) often encounter wind disturbances that perturb the aircraft from its desired target trajectory, or in a manner that increases the force encountered on the vehicle. The aircraft's fixed dihedral angle, providing stiffness to roll rotations, is often selected based on stability and control requirements for the vehicle. A study to predict the effect of a flapping wing (active dihedral) system on the stability, control, and wind gust rejection capability is completed to assess the performance and feasibility of such a system. Traditionally, the dihedral location begins at the root to maintain wing structural requirements, however, the active dihedral system was also evaluated for stability and wind gust rejection performance at alternative locations along the wing where the dihedral could begin, with intention of finding the best location. Simulations were completed using a varying set of simplified models, obtained from traditional aircraft mechanics, to improve the modeling of the true complex active dihedral system. The stability of the system was evaluated using various theories applied to the linear systems in attempt to define a bounded operating region for the dihedral angle and flapping motion. An ideal controller for the system was developed using ideas from well documented linear control theory for both a single wind gust and a continuous wind gust model. A controller that varies with vehicle flapping motion was implemented to show the benefits of scheduling the controller with a parameter varying state and input model. Finally, a cost analysis was conducted to investigate the real-world benefit of altering the dihedral starting location. The effects of the active dihedral system on battery capacity and consumption efficiency were observed and compared with the total gust rejection capability.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:35069en
dc.identifier.urihttp://hdl.handle.net/10919/110850en
dc.language.isoenen
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectActive Dihedralen
dc.subjectGust Rejectionen
dc.subjectUnmanned Aircraft Systemen
dc.subjectLinear Parameter-Varyingen
dc.subjectGain Schedulingen
dc.titleModeling and Control of an Active Dihedral Fixed-Wing Unmanned Aircraften
dc.typeThesisen
thesis.degree.disciplineAerospace Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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