System identification for development of distributed electric propulsion vertical take-off vehicles

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2017

Author dc:creator

• Patterson, Andrew Paul

Contributors dc:contributor

• Hovakimyan, Naira

• System identification
• Distributed electric propulsion

Statement dc:rights

• Copyright 2017 Andrew Patterson

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/97340

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/97340