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Real time hardware and software systems for micro air vehicle flight control testing.

機譯：用于微型飛行器飛行控制測試的實時硬件和軟件系統(tǒng)。

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The trend of increasing capabilities of micro scale electrical, mechanical, and computing systems is opening up the possibilities of new unmanned vehicle platforms. Both unmanned aerial and ground vehicles have traditionally been created from large conventional platforms such as automobiles, rotorcraft, and fixed wing aircraft. These conventional chassis designs are durable and proven, but the benefits of automating these types of platforms are limited by their inherent human-centric design. Many real-world applications would benefit greatly from vehicle classes designed with unconventional means such as biologically inspired locomotion.;Micro air vehicles are a class of vehicles that have recently began moving from the realm of the probable to that of the practical. Current micro aerial vehicle (MAV) designs are generally nothing more than scaled down fixed wing airplanes or rotorcraft, but biologically inspired flapping wing platforms at the insect scale are now a distinct possibility. Flapping wing MAVs have the potential to perform tasks in environments that conventional aerial vehicles fail due to constraints imposed by size and weight, robustness to environmental perturbations, and endurance.;Flapping wing MAV development requires new experimentation techniques for control design and validation. These types of vehicles require rapid actuator responses to a degree where human remote control is impossible without electronic assistance. This and other caveats make it difficult to develop MAV platforms and controllers without complete avionics and power systems, which are in turn difficult to develop when the vehicle specifications are unknown.;In this thesis, a Real-Time Testing Environment for Development of MAV Flight Controls is presented. The system makes it possible to test MAV flight controls without integrated avionics by using real-time computing hardware within a vision based motion capture environment. A Split-Cycle Wingbeat Modulated MAV Platform for Hardware-in-the-loop Control Analysis is also presented. This test platform was designed and fabricated to verify the motion capabilities of a proposed flapping MAV controller on a practical vehicle. The vehicle platform is actuated by brushless DC motors (BLDC) and controlled by real-time computing hardware. The instantaneous forces and torques generated by the vehicle are measured with a 6 DOF force/torque transducer for processing by the real-time computer. Finally, A Reinforcement Learning Approach to BLDC Motor Commutation is also proposed in the context of actuating a flapping wing with finite timing constraints. This approach involves the use of a Q-learning algorithm to learn the optimal amount of power to apply at a given motor commutation state to achieve a desired transition time.
機譯：微型電氣，機械和計算系統(tǒng)的功能不斷增強的趨勢為新型無人駕駛汽車平臺開辟了可能性。傳統(tǒng)上，無人駕駛飛機和地面飛行器都是由大型常規(guī)平臺（例如汽車，旋翼飛機和固定翼飛機）制造的。這些傳統(tǒng)的機箱設計經(jīng)久耐用且經(jīng)過驗證，但是自動化這些類型的平臺的好處受到其固有的以人為本的設計的限制。使用非常規(guī)手段（例如，受生物啟發(fā)的運動）設計的車輛類別將使許多現(xiàn)實世界的應用受益匪淺。微型飛行器是近來已開始從可能的領域轉向實際的領域的一類車輛。當前的微型飛行器（MAV）設計通常只不過是按比例縮小的固定翼飛機或旋翼飛機，但是昆蟲尺度的受生物學啟發(fā)的撲翼平臺如今已成為一種明顯的可能性。由于尺寸和重量，對環(huán)境干擾的魯棒性和耐用性等因素的限制，拍打翼飛機飛行器有可能在常規(guī)飛行器無法解決的環(huán)境中執(zhí)行任務；拍打翼飛機飛行器的開發(fā)需要新的實驗技術來進行控制設計和驗證。這些類型的車輛需要快速的執(zhí)行器響應，以致在沒有電子協(xié)助的情況下無法進行人工遙控的程度。這和其他注意事項使沒有完整的航空電子設備和動力系統(tǒng)的MAV平臺和控制器的開發(fā)變得困難，而當車輛規(guī)格未知時，這又很難開發(fā)。呈現(xiàn)控件。該系統(tǒng)通過在基于視覺的運動捕捉環(huán)境中使用實時計算硬件，無需集成航空電子設備即可測試MAV飛行控制。還介紹了用于硬件在環(huán)控制分析的分周期Wingbeat調制MAV平臺。設計并制造了該測試平臺，以驗證擬議的拍打式MAV控制器在實際車輛上的運動能力。車載平臺由無刷直流電動機（BLDC）致動，并由實時計算硬件控制。車輛產(chǎn)生的瞬時力和扭矩使用6自由度力/扭矩傳感器測量，由實時計算機進行處理。最后，還提出了一種在有限時機約束下啟動襟翼的背景下的BLDC電動機換向強化學習方法。該方法涉及使用Q學習算法來學習要在給定的電動機換向狀態(tài)下施加的最佳功率量，以實現(xiàn)所需的過渡時間。

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    The University of Texas at Arlington.;

  • 授予單位 The University of Texas at Arlington.;
  • 學科 Engineering Computer.;Engineering Aerospace.
  • 學位 M.S.
  • 年度 2010
  • 頁碼 52 p.
  • 總頁數(shù) 52
  • 原文格式 PDF
  • 正文語種 eng
  • 中圖分類
  • 關鍵詞

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