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Design and Control of Hybrid Morphing Wing VTOL UAV

Patel, Twinkle
http://orcid.org/0000-0002-8352-4875
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1649859890233731

Abstract Details

2022, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
The aim of this thesis is to expand the capabilities of Unmanned Aerial vehicles (UAV), by presenting an autonomous control algorithm and using a morphing box wing, which supports vertical and horizontal flight mode along with transition. This research work provides detailed description of the position and attitude controller for a hybrid morphing box wing UAV. Hybrid morphing wing UAV has ability to perform mission as both quadcopter and fixed-wing aircraft in efficient manner. Development of a single controller with ability to handle two different mode is discussed. Numerous work has been done to increase the application of conventional UAVs, but not very much work has been done in increasing the capability to efficiently combine and fly UAV in horizontal and vertical modes of flight. Hybrid morphing wing UAV is a structural enhancement of a conventional quadrotor that is attached with a wing structure which has morphing ability, and that helps to optimizes performance of UAV during flight. Maneuvering of a traditional quadcopter is controlled by varying the rotors speeds, where the rotation is clockwise for two diagonally opposite rotors and anti-clockwise for the other two rotors. The opposite rotation of rotors in quadcopter is used to control the yaw moment of the system. The quadcopters have two configurations in which they fly, namely '+' configuration and ’X’ configuration. The '+' configuration have one rotating propeller on each side of the axes for rolling and pitching, whereas ’X’ configuration have two counter rotating propeller on each side of the axes for rolling and pitching. The hybrid UAV proposed in this thesis, uses a quadcopter in ’X’ configuration attached to the box wing. In order to improve the efficiency of the box wing during the whole flight regime, two approaches have been applied, first is the box wing in the shape of a nozzle and second is the morphing wing. Nozzle wing design is proposed to be used during the vertical take-off of flight and the morphing of wings is designed for the horizontal mode of flight. A series of computational fluid dynamics analysis have been performed to estimate the aerodynamic properties of the morphing nozzle wing. A nonlinear backstepping control technique is proposed for a combined equations of motion of vertical and horizontal flight modes, also work has been done towards providing a smooth transition and stable flight. The mathematical model of the controller is developed in MATLAB for performing numerical simulations, which has given a positive result in achieving the desired position and attitude while performing the transition between two modes of flight and performing the maneuvers. The results for the way-point navigation which also shows the transition between flights are generated by the numerical simulations which demonstrates the robustness of the controller. Overall, the hybrid morphing wing UAV, has proven to be an efficient and effective flying vehicle. From a commercial standpoint of view, this hybrid multirotor vehicle is valuable, due to its ability of maneuverability and optimized dual flight modes, useful for package delivery purpose.
Shaaban Abdallah, Ph.D. (Committee Member)
Rajnikant Sharma, Ph.D. (Committee Member)
Manish Kumar, Ph.D. (Committee Member)
80 p.
Aerospace Materials
Hybrid UAV; backstepping; nonlinear controller; trasnsitioning; Morphing wing UAV; drones

Recommended Citations

Citations

  • Patel, T. (2022). Design and Control of Hybrid Morphing Wing VTOL UAV [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1649859890233731

    APA Style (7th edition)

  • Patel, Twinkle. Design and Control of Hybrid Morphing Wing VTOL UAV. 2022. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1649859890233731.

    MLA Style (8th edition)

  • Patel, Twinkle. "Design and Control of Hybrid Morphing Wing VTOL UAV." Master's thesis, University of Cincinnati, 2022. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1649859890233731

    Chicago Manual of Style (17th edition)

ucin1649859890233731
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This open access ETD is published by University of Cincinnati and OhioLINK.