Projektiranje sustava upravljanja autonomne bespilotne letjelice i njegova provjera primjenom simulacije leta

master's thesis

• Title (english): Control system design for autonomus unmanned aerial vehicle and its review with flight simulation application
• Author: Ante Perica
• Mentor: Milan Vrdoljak (mentor)
• Committee member: Ivica Smojver (predsjednik povjerenstva)
• Committee member: Darko Ivančević (član povjerenstva)
• Committee member: Josip Stepanić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-01-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Aviation, Rocket and Space Technology; Aircraft Control

Abstract

U ovom diplomskom radu projektirali su se sustavi stabilizacije uzdužnog i bočnog gibanja te sustavi upravljanja smjerom i visinom leta s ciljem postizanja autonomnog leta. Letjelica za koju su sustavi projektirani je konfiguracije letećeg krila nazvana Salus. Na početku rada dani su svi potrebni podaci o letjelici. Zatim su se odredile aerodinamičke značajke na dva različita načina, projektnom metodom i numeričkom metodom. Sljedeći korak bio je izrada lineariziranog modela letjelice, te njegova implementacija u sustave stabilizacije napravljene u programu Simulink. Nakon uspješne implementacije linearnog modela u projektirane sustave stabilizacije, pristupilo se izradi sustava upravljanja letjelice, odnosno navođenja letjelice. Kao posljednji korak su se ti sustavi upravljanja implementirali u 6DOF model leta letjelice i napravljena je simulacija u stvarnom vremenu pomoću programa za vizualizaciju FlightGear. U konačnici su se rezultati dobiveni simulacijom za zadanu putanju leta prikazali pomoću grafova.

Abstract (english)

In this master thesis, longitudinal and lateral motion stabilization systems were designed as well as flight direction and altitude control systems with the aim of achieving autonomous flight. The aircraft for which the systems were designed is a flying wing configuration called the Salus. At the beginning of the thesis, all the necessary information about the aircraft is given. Then, the aerodynamic features were determined in two different ways, the design method and the numerical method. The next step was the creation of a linearized model of the aircraft, and its implementation in the stabilization systems created in the Simulink program. After the successful implementation of the linearized model in the designed stabilization systems, the design of the aircraft control system, i.e. the aircraft's guidance system, began. As a final step, these control systems were implemented in a 6DOF flight model of the aircraft and a real-time simulation was made using the FlightGear visualization program. Finally, the results obtained from the simulation for the given flight path were presented using graphs.

• Keywords: sustavi stabilizacije; sustavi upravljanja; autonomni let; konfiguracija letećeg krila; linearizirani model letjelice; 6DOF model leta
• Keywords (english): stabilization systems; control systems; autonomous flight; flying wing configuration; linearized aircraft model; 6DOF flight model
• Language: croatian
• URN:NBN: urn:nbn:hr:235:721814
• Study programme: Title: Aeronautical Studies; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka zrakoplovnog inženjerstva (magistar/magistra inženjer/inženjerka zrakoplovnog inženjerstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-01-26 11:26:35