Modelling the dynamics and control system of hybrid airship UAV (HAU-3)

In this thesis, a 3.3 m length, finless hull airship called HAU-3 is presented. Four vector thrusters arranged in H-Frame configurations were attached to the hull, which enable the airship to maneuver in 5DOF. To allow a deeper understanding of the HAU-3 motion behavior and to design a flight contro...

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Main Author:	Sedan, Mohd Fazri
Format:	Thesis
Language:	English
Published:	2022
Subjects:	Airships Flight control Hybrid airplanes
Online Access:	http://psasir.upm.edu.my/id/eprint/104091/1/MOHD%20FAZRI%20BIN%20SEDAN%20-%20IR.pdf
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id	my-upm-ir.104091
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spelling	my-upm-ir.1040912023-07-07T03:01:46Z Modelling the dynamics and control system of hybrid airship UAV (HAU-3) 2022-04 Sedan, Mohd Fazri In this thesis, a 3.3 m length, finless hull airship called HAU-3 is presented. Four vector thrusters arranged in H-Frame configurations were attached to the hull, which enable the airship to maneuver in 5DOF. To allow a deeper understanding of the HAU-3 motion behavior and to design a flight controller, a reliable dynamics model representation and simulator of HAU-3 are developed. A six-degrees of freedom (6DOF) non-linear mathematical model representation is constructed using the Newton-Euler approach. The dynamics model parameters were identified via semi-empirical, computer-aided modelling (CAD) and experimental approaches. The HAU-3 dynamics model was then integrated into Simulink and MATLAB to construct a closed-loop simulator to analyze the airship's behavior. Five separate Proportional, Integral and Derivative (PID) controllers were designed using the developed non-linear dynamic model. A series of indoor static tests and outdoor flight tests were conducted to evaluate the controller performance and to validate the simulator response. A dynamic response model of the vector thrusters developed provides excellent agreement with the actual thrust and motor transient response with 0.29 s delay and 0.2 N steady-state error. The indoor static test of the yaw controller shows an adequate yaw state change tracking performance with a 9.5% average difference in maximum overshoot and approximately 30% settling time difference by comparison of actual and simulated responses. The controller is able to suppress the pendulum oscillation in pitch and roll with 0.165 Hz and 0.3 Hz oscillation frequency, respectively and at least 20°maximum angle deviation. The altitude controller also shows an excellent performance in tracking the change in altitude during outdoor flight tests with an average 0.5 m altitude difference between simulation and actual recorded altitude. The developed HAU-3 simulator provides a reasonable estimate of the airship's attitude and translational states for modelling and simulation purposes. Airships Flight control Hybrid airplanes 2022-04 Thesis http://psasir.upm.edu.my/id/eprint/104091/ http://psasir.upm.edu.my/id/eprint/104091/1/MOHD%20FAZRI%20BIN%20SEDAN%20-%20IR.pdf text en public masters Universiti Putra Malaysia Airships Flight control Hybrid airplanes Mohd Harithuddin, Ahmad Salahuddin
institution	Universiti Putra Malaysia
collection	PSAS Institutional Repository
language	English
advisor	Mohd Harithuddin, Ahmad Salahuddin
topic	Airships Flight control Hybrid airplanes
spellingShingle	Airships Flight control Hybrid airplanes Sedan, Mohd Fazri Modelling the dynamics and control system of hybrid airship UAV (HAU-3)
description	In this thesis, a 3.3 m length, finless hull airship called HAU-3 is presented. Four vector thrusters arranged in H-Frame configurations were attached to the hull, which enable the airship to maneuver in 5DOF. To allow a deeper understanding of the HAU-3 motion behavior and to design a flight controller, a reliable dynamics model representation and simulator of HAU-3 are developed. A six-degrees of freedom (6DOF) non-linear mathematical model representation is constructed using the Newton-Euler approach. The dynamics model parameters were identified via semi-empirical, computer-aided modelling (CAD) and experimental approaches. The HAU-3 dynamics model was then integrated into Simulink and MATLAB to construct a closed-loop simulator to analyze the airship's behavior. Five separate Proportional, Integral and Derivative (PID) controllers were designed using the developed non-linear dynamic model. A series of indoor static tests and outdoor flight tests were conducted to evaluate the controller performance and to validate the simulator response. A dynamic response model of the vector thrusters developed provides excellent agreement with the actual thrust and motor transient response with 0.29 s delay and 0.2 N steady-state error. The indoor static test of the yaw controller shows an adequate yaw state change tracking performance with a 9.5% average difference in maximum overshoot and approximately 30% settling time difference by comparison of actual and simulated responses. The controller is able to suppress the pendulum oscillation in pitch and roll with 0.165 Hz and 0.3 Hz oscillation frequency, respectively and at least 20°maximum angle deviation. The altitude controller also shows an excellent performance in tracking the change in altitude during outdoor flight tests with an average 0.5 m altitude difference between simulation and actual recorded altitude. The developed HAU-3 simulator provides a reasonable estimate of the airship's attitude and translational states for modelling and simulation purposes.
format	Thesis
qualification_level	Master's degree
author	Sedan, Mohd Fazri
author_facet	Sedan, Mohd Fazri
author_sort	Sedan, Mohd Fazri
title	Modelling the dynamics and control system of hybrid airship UAV (HAU-3)
title_short	Modelling the dynamics and control system of hybrid airship UAV (HAU-3)
title_full	Modelling the dynamics and control system of hybrid airship UAV (HAU-3)
title_fullStr	Modelling the dynamics and control system of hybrid airship UAV (HAU-3)
title_full_unstemmed	Modelling the dynamics and control system of hybrid airship UAV (HAU-3)
title_sort	modelling the dynamics and control system of hybrid airship uav (hau-3)
granting_institution	Universiti Putra Malaysia
publishDate	2022
url	http://psasir.upm.edu.my/id/eprint/104091/1/MOHD%20FAZRI%20BIN%20SEDAN%20-%20IR.pdf
_version_	1776100408921423872

Modelling the dynamics and control system of hybrid airship UAV (HAU-3)

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