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.

无人机一直受到机器人研究界的广泛关注。与此同时，北美无人机商业市场已经并将继续高速增长，无人机新应用迅速涌现。其中一个应用是野火监视，小型低成本空中平台可以提供有关火灾状况和进展的宝贵信息，因此可以作为地面人员的辅助工具。在这个项目中，我们探索使用自主滑翔机在野火上空进行长时间飞行。滑翔机被选用于此应用，因为它们可以利用火灾中产生的丰富热气流，使它们能够长时间停留在高空。研究重点将是开发制导和控制算法，使车辆能够在可能存在野火的恶劣天气条件下成功运行。该项目是麦吉尔大学已资助团队项目的自然延伸，该项目专注于不稳定空气动力条件下无人机的建模和控制。该团队增加了一位来自瑞尔森大学的新成员，该成员拥有滑翔机空气动力载荷建模、操作和飞行测试方面的专业知识，扩大并加强了该团队研究自主滑翔机的能力。该研究将涉及开发在不稳定空气动力学条件下运行的滑翔机的高保真模型，开发引导和控制策略以使其能够自主利用火灾上的热气流，并进行初步飞行测试以部分验证所开发的自主能力。瑞尔森大学的一名博士生和麦吉尔大学的一名硕士生将通过 NSERC-FRQNT 补充资助来完成上述任务。该增刊将为两个机构的研究小组提供一个绝佳的机会，就这一主题进行合作，探索两个小组之间的协同作用，共享设备和专业知识。该项目的结果将与小型自主滑翔机在野火长期监测和其他情况下的应用相关。