Analysis and design of a UAV drone multi-copter controller |
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Betreuer: Alexander Liniger, Nikolaos Kariotoglou, Reto Hofmann |
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Beschreibung: UAV (Drones) have become very popular for industrial inspection over the past few years. At Sulzer & Schmid Laboratories (SSL) a technology platform is developed to visually inspect the rotor blades of wind turbines. The drones are flying autonomously and in close proximity to the blades to acquire high-resolution images. The process leverages a Lidar scanner (laser) to ‘dock’ to the wind turbine and to assure precise spatial positioning of the drone relative to the inspection target. The navigation controller implements a rabbit-carrot chasing concept (path-following control problem). Currently, PID controllers are used to couple the rabbit (drone) to the carrot (path). While the system has been used extensively in production already, we have observed that in certain situations (turbulent air patches) the rabbit-carrot coupling might be causing certain undesirable oscillations. The aim of this Master Thesis is to analyze the system dynamics under different operating conditions (velocity, acceleration, external disturbance like wind) and to assess the limitations of the current PID implementation. Once the limitations of the current system are identified, a refined path-following mechanism will be explored and tested on the inspection drone.
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Professor: John Lygeros |
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Projektcharakteristik: Typ: Art der Arbeit: Implementation, Simulation, Development Voraussetzungen: Control systems I & II, Signals and Systems, Linear system theory, Non-linear systems | |
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Anzahl StudentInnen: Status: open | |
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Projektstart: Semester: | |
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