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UID:0-208@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20220523T133000

DTEND;TZID=Asia/Jerusalem:20220523T143000

DTSTAMP:20230403T121735Z

URL:https://aerospace.technion.ac.il/events/performance-and-control-of-mul
 tirotors-formation-with-slung-load-in-an-urban-environment/

SUMMARY:Performance and Control of Multirotors Formation with Slung Load in
  an Urban Environment
DESCRIPTION:Lecturer:Amit Weinreb\n Faculty:Department of Aerospace Enginee
 ring\n Institute:Technion – Israel Institute of Technology\n Location:Cl
 assroom 165\, ground floor\, Library\, Aerospace Eng. & https://technion.z
 oom.us/j/91293264013\n Zoom: \n Abstract: \n Details: \n The use of small 
 unmanned aerial vehicles (UAV) has extensively increased during the last d
 ecade. Their most common applications are in sport events’ photography\,
  search-and-rescue missions and military reconnaissance. Additional area w
 ith potentially rapid growth is the autonomous deliveries. Using small mul
 ti-rotor drones to deliver door-to-door has many benefits\, ranging from r
 educing shipping time and costs to high reliability and convenience. The d
 rawback is a relatively small lifting capacity of currently operational mu
 lti-rotor UAVs. It can be mitigated\, to some extent\, by employing a form
 ation of UAVs to the same task.\nDesigning a control algorithm for a forma
 tion of multi-rotor-UAVs carrying a sling load is a challenging task\, not
  only because of the complexity of the formation’s dynamics\, but also b
 ecause of the complexity of the rotors’ aerodynamics. Normally\, a simpl
 ified aerodynamic model is adopted\, in which the forces and moments gener
 ated by a rotor are determined solely by its rotational speed. In this stu
 dy the simplified aerodynamic model is replaced by a realistic one.  It i
 s demonstrated that the commonly used model is inadequate in windy environ
 ment\, especially in urban areas where wind gradients are large. By exposi
 ng a formation of four quad-rotor UAV’s carrying a sling load to turbule
 nt winds\, it is shown that a ‘standard’ trajectory tracking guidance 
 with force controller\, designed using the simplified model\, can crash. A
 n update to the original controller scheme is suggested\, to improve the s
 ystem performance.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng. & https://
 technion.zoom.us/j/91293264013

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