Dynamics and Control of UAVs in Unsteady Aerodynamics Conditions.

非定常空气动力学条件下无人机的动力学和控制。

• 批准号: 560830-2020
• 负责人: Sharf, Inna
• 金额: $ 2.19万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Alliance Grants
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=706992
• 关键词: Dynamics; Control; UAVs; Unsteady; Aerodynamics

Unmanned aerial vehicles have been receiving a lot of interest in the robotics research community. In parallel, the UAV commercial market has and continues to undergo high growth in North America, with new applications of UAVs emerging rapidly. One such application is wild fire surveillance, where a small low-cost aerial platform can provide valuable information on the conditions and progression of the fire and, hence, serve as an assistive tool to personnel on the ground. In this project, we explore the use of an autonomous glider for long-duration flight over wild fires. Gliders were selected for this application because they can exploit the abundant thermals that occur over a fire to allow them to stay aloft for long periods. The research focus will be on the development of guidance and control algorithms to allow the vehicle operate successfully in the challenging weather conditions that are likely to exist over a wild fire. This project provides a natural extension of the already funded team project at McGill University, which focuses on modeling and control of UAVs subject to unsteady aerodynamic conditions. The addition of a new member to the team from Ryerson University with expertise on modeling of aerodynamic loads, operation and flight testing of gliders, expands and strengthens the team's capabilities for research on autonomous gliders. The research will involve developing a high-fidelity model of a glider operating in unsteady aerodynamic conditions, developing guidance and control strategies to allow it to autonomously exploit thermals over a fire, and conducting initial flight tests to partially validate the developed autonomous capabilities. One PhD student at Ryerson University and one Master's student at McGill will be funded through the NSERC-FRQNT supplement to work on the aforementioned tasks. The supplement will provide an excellent opportunity for the research groups from two institutions to collaborate on this topic and to explore synergies between the two groups, share equipment and expertise. The results of the project will be relevant to applications of small autonomous gliders for long-duration surveillance of wild fires and in other contexts.

无人驾驶汽车一直对机器人研究社区感兴趣。同时，无人机商业市场在北美持续并继续经历高增长，无人机的新应用迅速出现。这样的应用是野生火灾监视，其中一个小的低成本空中平台可以提供有关火灾状况和进展的有价值的信息，因此可以作为地面人员的辅助工具。在这个项目中，我们探讨了自主滑翔机在野外飞行中的长期飞行。选择滑翔机用于此应用程序，因为它们可以利用在火灾中发生的丰富热量，以使它们长期保持高空。研究重点将放在指导和控制算法的开发上，以使车辆在可能存在于野外火灾中可能存在的充满挑战的天气状况中成功运行。该项目提供了麦吉尔大学已经资助的团队项目的自然扩展，该项目的重点是对不稳定空气动力学条件的无人机进行建模和控制。在瑞尔森大学（Ryerson University）的团队中增加了一个新成员，并具有对滑翔机的空气动力负载，操作和飞行测试建模的专业知识，可以扩展和增强团队在自动滑翔机上研究的能力。这项研究将涉及开发在不稳定的空气动力学条件下运行的滑翔机的高保真模型，制定指导和控制策略，以使其能够自主利用火力，并进行初始飞行测试，以部分验证开发的自主能力。 Ryerson大学的一名博士学位学生和McGill的一名硕士学生将通过NSERC-FRQNT补充来资助上述任务。该补充剂将为来自两个机构的研究小组提供了一个绝佳的机会，可以在这一主题上进行协作，并探索两个组之间的协同作用，共享设备和专业知识。该项目的结果将与小型自动滑翔机的应用有关，以在野火和其他情况下长期监视。