Advanced Controller Development for Spiri Unmanned Aerial Vehicle

Spiri 无人机的高级控制器开发

• 批准号: 486056-2015
• 负责人: Sharf, Inna
• 金额: $ 1.82万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=585366
• 关键词: Advanced; Controller; Development; Spiri; Unmanned

Pleaides, in existence since 1999, kick-started a robotics division in 2012 to develop a novel unmanned aerial vehicle (UAV), called SPIRI. The UAV market is undergoing high growth in North America and new applications of UAVs are emerging rapidly. The quadrotor vehicle developed by Pleaides has a number of unique features which make it particularly suitable for autonomous operation indoors: its four propellers are individually protected by ribbons which means that in the event of collision, the propellers and the motor are likely to resist possible damage and, the vehicle can recover from a collision and continue its operation. Expedient entry of Pleaides into the UAV market would be desirable to capitalize on the market potential and SPIRI's unique capabilities. In the course of this Engage grant, we plan to develop more advanced controllers for SPIRI, to both improve its current performance, but also to expand its maneuvering repertoire. We will also conduct a detailed investigation of propeller performance and how it is affected by the presence of a ribbon, with the view to possibly improving the design of the platform. Professor Sharf has been working in the area of unmanned aerial vehicles, specifically quadrotors, for a number of years, focusing on improving autonomy of small UAVs by advancing the state-of-the-art in estimation techniques, localization and mapping algorithms and control strategies. Two MEng students and one research engineer will be directly involved in developing the dynamics model and controllers for SPIRI to improve its attitude stabilization and to allow SPIRI to recover from an accidental flip-over, as can happen at landing or during a take-off maneuver. Although developed and tested specifically for SPIRI, the methodologies and knowledge gained during this research will prove useful for advanced controller design for other small rotary UAVs. It is anticipated that these newly developed capabilities and technology transfer to occur during the project will set the stage for further collaborative development of the SPIRI platform. The added value to SPIRI will be helpful to Pleaides in terms of speeding up market entry and successful adoption of the SPIRI vehicle by consumers.

自1999年以来的呼吁，在2012年开始了一个机器人部门，以开发一个新颖的无人空中 车辆（无人机），称为Spiri。北美和新的无人机市场正在经历高增长 无人机的应用正在迅速出现。呼吁开发的四型载体有许多 独特的功能使其特别适合在室内自动操作：其四个螺旋桨是 由丝带单独保护，这意味着如果发生碰撞，螺旋桨和电机是 可能抵抗可能的损坏，车辆可以从碰撞中恢复并继续操作。 呼吁进入无人机市场的权宜之计是可以利用市场潜力和 Spiri的独特功能。在这项参与赠款的过程中，我们计划开发更多高级控制者 对于Spir，既可以提高目前的表现，又要扩大其机动曲目。我们也会 对螺旋桨性能及其如何受到色带的影响进行详细研究， 为了改善平台的设计。 Sharf教授一直在该领域工作 无人驾驶飞机，特别是四型飞机，多年来，重点是提高自主权 小型无人机通过在估计技术，本地化和映射算法中推进最先进的无人机 和控制策略。两名Meng学生和一名研究工程师将直接参与发展 Spiri的动态模型和控制器，以改善其态度稳定并允许Spiri恢复 从偶然的翻转中，就像在降落中或起飞时可能发生的那样。虽然开发和 经过专门针对Spiri的测试，本研究中获得的方法和知识将被证明是有用的 用于其他小型旋转无人机的高级控制器设计。预计这些新开发 项目期间发生的能力和技术转移将为进一步的合作奠定阶段 Spiri平台的开发。 Spiri的附加价值将有助于超速行动 消费者加强市场进入和成功采用Spiri车辆。