Title: Modeling and Control of Swing Oscillation of Underactuated Indoor Miniature Autonomous Blimps
Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. This paper presents the modeling, identification and control system design that reduce the swing oscillation of an MAB during hovering flight. We establish a dynamic model to describe the swing motion of the MAB. The model parameters are identified from both physical measurements, computer modeling and experimental data captured during flight. A control system is designed to stabilize the swing motion with features including low latency and center-of-mass (CM) position estimation. The modeling and control methods are verified with the Georgia-Tech Miniature Autonomous Blimp (GT-MAB) during hovering flight. The experimental results show that the proposed methods can effectively reduce the swing oscillation of GT-MAB. more »« less
Tao, Qiuyang; Hou, Mengxue; Zhang, Fumin(
, 16th International Conference on Control, Automation, Robotics and Vision (ICARCV))
null
(Ed.)
Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. A detailed dynamics model is critical for investigating this undesired movement and designing controllers to stabilize the oscillation. This paper presents a motion model that describes the coupled translational and rotational movements of a typical indoor MAB with saucer- shaped envelope. The kinematics and dynamic model of the MAB are simplified from the six-degrees-of-freedom (6-DOF) Newton–Euler equations of underwater vehicles. The model is then reduced to 3-DOF given the symmetrical design of the MAB around its vertical axis. Parameters of the motion model are estimated from the system identification experiments, and validated with experimental data.
Seguin, Landan; Zheng, Justin; Li, Alberto; Tao, Qiuyang; Zhang, Fumin(
, IEEE International Conference on Control and Automation (ICCA))
null
(Ed.)
The Georgia Tech Miniature Autonomous Blimp (GT-MAB) needs localization algorithms to navigate to way-points in an indoor environment without leveraging an external motion capture system. Indoor aerial robots often require a motion capture system for localization or employ simultaneous localization and mapping (SLAM) algorithms for navigation. The proposed strategy for GT-MAB localization can be accomplished using lightweight sensors on a weight-constrained platform like the GT-MAB. We train an end-to-end convolutional neural network (CNN) that predicts the horizontal position and heading of the GT-MAB using video collected by an onboard monocular RGB camera. On the other hand, the height of the GT-MAB is estimated from measurements through a time-of-flight (ToF) single-beam laser sensor. The monocular camera and the single-beam laser sensor are sufficient for the localization algorithm to localize the GT-MAB in real time, achieving the averaged 3D positioning errors to be less than 20 cm, and the averaged heading errors to be less than 3 degrees. With the accuracy of our proposed localization method, we are able to use simple proportional-integral-derivative controllers to control the GT-MAB for waypoint navigation. Experimental results on the waypoint following are provided, which demonstrates the use of a CNN as the primary localization method for estimating the pose of an indoor robot that successfully enables navigation to specified waypoints.
Vibrational control is an open loop stabilization technique via the application of highamplitude,
high-frequency oscillatory inputs. The averaging theory has been the standard
technique for designing vibrational control systems. However, it stipulates too high oscillation
frequency that may not be practically feasible. Therefore, although vibrational
control is very robust and elegant (stabilization without feedback), it is rarely used in
practical applications. The only well-known example is the Kapitza pendulum; an inverted
pendulum shose pivot is subject to vertical oscillation. the unstable equilibrium of the
inverted pendulum gains asymptotic stability due to the high-frequency oscillation of the
pivot. In this paper, we provide a new vibrational control system from Nature; flapping
flight dynamics. Flapping flight is a rich dynamical system as a representative model will
typically be nonlinear, time-varying, multi-body, multi-time-scale dynamical system. Over
the last two decades, using direct averaging, there has been consensus in the flapping flight
dynamics community that insects are unstable at the hovering equilibrium due to the lack
of pitch stiffness. In this work, we perform higher-order averaging of the time-periodic dynamics
of flapping flight to show a vibrational control mechanism due to the oscillation of
the driving aerodynamic forces. We also experimentally demonstrate such a phenomenon
on a flapping apparatus that has two degrees of freedom: forward translation and pitching
motion. It is found that the time-periodic dynamics of the flapping micro-air-vehicle is
naturally (without feedback) stabilized beyond a certain threshold. Moreover, if the averaged
aerodynamic thrust force is produced by a propeller revolving at a constant speed
while maintaining the wings stationary at their mean positions, no stabilization is observed.
Hence, it is concluded that the observed stabilization in the flapping system at high frequencies
is due to the oscillation of the driving aerodynamic force and, as such, flapping
flight indeed enjoys vibrational stabilization.
The rising global trend to reduce dependence on fossil fuels has provided significant
motivation toward the development of alternative energy conversion methods
and new technologies to improve their efficiency. Recently, oscillating energy harvesters
have shown promise as highly efficient and scalable turbines, which can be
implemented in areas where traditional energy extraction and conversion are either
unfeasible or cost prohibitive. Although such devices are quickly gaining popularity,
there remain a number of hurdles in the understanding of their underlying fluid
dynamics phenomena.
The ability to achieve high efficiency power output from oscillating airfoil energy
harvesters requires exploitation of the complexities of the event of dynamic stall.
During dynamic stall, the oncoming flow separates at the leading edge of the airfoil
to form leading ledge vortex (LEV) structures. While it is well known that LEVs
play a significant role in aerodynamic force generation in unsteady animal flight
(e.g. insects and birds), there is still a need to further understand their spatiotemporal
evolution in order to design more effective energy harvesting enhancement
mechanisms.
In this work, we conduct extensive experimental investigations to shed-light
on the flow physics of a heaving and pitching airfoil energy harvester operating
at reduced frequencies of k = fc=U1 = 0.06-0.18, pitching amplitude of 0 = 75
and heaving amplitude of h0 = 0:6c. The experimental work involves the use
of two-component particle image velocimetry (PIV) measurements conducted in
a wind tunnel facility at Oregon State University. Velocity fields obtained from
the PIV measurements are analyzed qualitatively and quantitatively to provide a
description of the dynamics of LEVs and other flow structures that may be present
during dynamic stall. Due to the difficulties of accurately measuring aerodynamic
forces in highly unsteady flows in wind tunnels, a reduced-order model based on
the vortex-impulse theory is proposed for estimating the aerodynamic loadings
and power output using flow field data. The reduced-order model is shown to be
dominated by two terms that have a clear physical interpretation: (i) the time
rate of change of the impulse of vortical structures and (ii) the Kutta-Joukowski
force which indirectly represents the history effect of vortex shedding in the far
wake. Furthermore, the effects of a bio-inspired flow control mechanism based on
deforming airfoil surfaces on the flow dynamics and energy harvesting performance
are investigated.
The results show that the aerodynamic loadings, and hence power output, are
highly dependent on the formation, growth rate, trajectory and detachment of the
LEV. It is shown that the energy harvesting efficiency increases with increasing
reduced frequency, peaking at 25% when k = 0.14, agreeing very well with published
numerical results. At this optimal reduced frequency, the time scales of the
LEV evolution and airfoil kinematics are matched, resulting in highly correlated
aerodynamic load generation and airfoil motion. When operating at k > 0:14, it
is shown that the aerodynamic moment and airfoil pitching motion become negatively
correlated and as a result, the energy harvesting performance is deteriorated.
Furthermore, by using a deforming airfoil surface at the leading and trailing edges,
the peak energy harvesting efficiency is shown to increase by approximately 17%
and 25% relative to the rigid airfoil, respectively. The performance enhancement
is associated with enhanced aerodynamic forces for both the deforming leading
and trailing edges. In addition, The deforming trailing edge airfoil is shown to
enhance the correlation between the aerodynamic moment and pitching motion at
higher reduced frequencies, resulting in a peak efficiency at k = 0:18 as opposed
to k = 0:14 for the rigid airfoil.
Plaizier, Gregory M.; Andersen, Erik; Truong, Binh; He, Xiang; Roundy, Shad; Leang, Kam K.(
, 2018 IEEE International Conference on Robotics and Automation (ICRA))
This paper presents the design, modeling, analysis, and experimental validation of an inductive resonant wireless power transfer (WPT) system to power a micro aerial vehicle (MAV). Using WPT, in general, enables longer flight times, virtually eliminates the need for batteries, and minimizes down time for recharging or replacing batteries. The proposed WPT system consists of a transmit coil, which can either be fixed to ground or placed on a mobile platform, and a receive coil carried by the MAV. The details of the WPT circuit design are presented. A power-transfer model is developed for the two-coil system, where the model is used to select suitable coil geometries to maximize the power received by the MAV for hovering. Analysis, simulation, and experimental results are presented to demonstrate the effectiveness of the WPT circuitry. Finally, a wirelessly powered MAV that hovers above the transmit coil is demonstrated in a laboratory setting.
Tao, Qiuyang, Tan, Tun Jian, Cha, Jaeseok, Yuan, Ye, and Zhang, Fumin. Modeling and Control of Swing Oscillation of Underactuated Indoor Miniature Autonomous Blimps. Retrieved from https://par.nsf.gov/biblio/10212076. Unmanned Systems 09.01 Web. doi:10.1142/S2301385021500060.
Tao, Qiuyang, Tan, Tun Jian, Cha, Jaeseok, Yuan, Ye, & Zhang, Fumin. Modeling and Control of Swing Oscillation of Underactuated Indoor Miniature Autonomous Blimps. Unmanned Systems, 09 (01). Retrieved from https://par.nsf.gov/biblio/10212076. https://doi.org/10.1142/S2301385021500060
Tao, Qiuyang, Tan, Tun Jian, Cha, Jaeseok, Yuan, Ye, and Zhang, Fumin.
"Modeling and Control of Swing Oscillation of Underactuated Indoor Miniature Autonomous Blimps". Unmanned Systems 09 (01). Country unknown/Code not available. https://doi.org/10.1142/S2301385021500060.https://par.nsf.gov/biblio/10212076.
@article{osti_10212076,
place = {Country unknown/Code not available},
title = {Modeling and Control of Swing Oscillation of Underactuated Indoor Miniature Autonomous Blimps},
url = {https://par.nsf.gov/biblio/10212076},
DOI = {10.1142/S2301385021500060},
abstractNote = {Swing oscillation is widely observed among indoor miniature autonomous blimps (MABs) due to their underactuated design and unique aerodynamic shape. This paper presents the modeling, identification and control system design that reduce the swing oscillation of an MAB during hovering flight. We establish a dynamic model to describe the swing motion of the MAB. The model parameters are identified from both physical measurements, computer modeling and experimental data captured during flight. A control system is designed to stabilize the swing motion with features including low latency and center-of-mass (CM) position estimation. The modeling and control methods are verified with the Georgia-Tech Miniature Autonomous Blimp (GT-MAB) during hovering flight. The experimental results show that the proposed methods can effectively reduce the swing oscillation of GT-MAB.},
journal = {Unmanned Systems},
volume = {09},
number = {01},
author = {Tao, Qiuyang and Tan, Tun Jian and Cha, Jaeseok and Yuan, Ye and Zhang, Fumin},
editor = {null}
}
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