{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/97340"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/97340","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"System identification for development of distributed electric propulsion vertical take-off vehicles","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.","abstract_html":"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.","abstract_has_math":false,"creators":["Patterson, Andrew Paul"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Hovakimyan, Naira"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-08-10T19:14:56Z","date_published":"2017-08-10T19:14:56Z","updated_at":"2026-07-22T22:24:32Z","subjects":["System identification","Distributed electric propulsion"],"languages":["en"],"rights":["Copyright 2017 Andrew Patterson"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/97340","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hovakimyan, Naira"]},{"key":"dc:creator","label":"Author","values":["Patterson, Andrew Paul"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-08-10T19:14:56Z","2017-04-27","2017-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["System identification","Distributed electric propulsion"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Andrew Patterson"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/97340"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["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.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Andrew Patterson, accepted the attached license on 2017-04-26 at 16:47.","The student, Andrew Patterson, submitted this Thesis for approval on 2017-04-26 at 17:00.","This Thesis was approved for publication on 2017-04-27 at 11:22.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10724 on 2017-08-10 at 13:39:31","Made available in DSpace on 2017-08-10T19:14:56Z (GMT). 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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.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Andrew Patterson, accepted the attached license on 2017-04-26 at 16:47.","The student, Andrew Patterson, submitted this Thesis for approval on 2017-04-26 at 17:00.","This Thesis was approved for publication on 2017-04-27 at 11:22.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10724 on 2017-08-10 at 13:39:31","Made available in DSpace on 2017-08-10T19:14:56Z (GMT). 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