The objective of this work is to adopt and further expand the type design of the SONG motor glider. The study will result in the basic aerodynamic calculation and the design of lateral control system including structural strength inspection of selected parts. Subsequently, the proposal will allow for further calculation to be made (of flight mechanics, wings strength or fuselage and empennage firmness) and for more specific constructional design of individual components of the glider.

Theoretical analysis of the possibility of manufacturing a metal sealing ring on the CNC machine tool. Selecting the most appropriate technology and manufacturing process analysis, involving selection of materials, tools and machining conditions.

Tato diplomová práce se zabývá návrhem mechanismu řízení letounu TL 4000, určení sil působících na jednotlivé součásti řízení a jejich pevnostní analýzou. V této práci jsou vypracovány všechny tři složky řízení a to tak, aby vyhovovaly stavebnímu předpisu CS 23.

The topic of this diploma thesis is the safety of a gas burner control. The aim is to fully automate the system by using a gas burner safety control system (Fail-Safe PLC) so as to reduce to minimum the risks. Because great emphasis is placed on safety, so Czech standards and what is connected with safety control systems are discussed. This project is implemented in cooperation with industrial automation company ElektroMAR a. s.

This master's thesis is about the possibilities of NC programming of car wheel hub component in software SinuTrain 4.7. The theoretical part is focused on the integration of the SINUMERIK 840D control system with other control systems, it contains informations about basic methods of NC programming and research relate to the field of materials used for the production of component. The practical part of the thesis includes the design and processing of technical documentation of the component, production technology and NC program. The output of this thesis is practical verified the function of the NC program by simulation in software SinuTrain 4.7.

A modern ghter aircraft has an advanced ight control system which highly augmentsthe control inputs from the pilot. To verify a new iteration of the control system is a timeconsuming and expensive task. It is desired to nd qualities that is not satisfactory to thepilot as early as possible in the verication process to reduce the cost for design changes.The primary objective of this thesis is to develop methods that can be used for automaticalevaluation of aircraft ying qualities from the data provided by a desktop simulator. A desktopsimulator is cheap to use compared to ight tests and tests with a pilot in a simulator.Only ghter aircraft in the precision ight phase are studied however the methods developedcould easily be extended to include other types of aircraft and other phases of ight.To evaluate the ying qualities two sets of criteria are used the MIL-F-8785C standardand the Gibson criteria. The MIL-F-8785C standard uses a second order linear system toevaluate the aircraft's ying qualities. The linear system is estimated from the nonlineardata and evaluated against the MIL-F-8785C standard. The Gibson criteria studies the timeand frequency domain directly and are designed to work with highly augmented aircraft.The set of Gibson criteria used in this thesis primary evaluates data from the time domainhowever one criterion from the frequency domain is studied.The methods developed to evaluate the ying qualities from the MIL-F-8785C standardonly works for a small part of the ight envelope furthermore they show a large dierencefor what is considered acceptable ying qualities. Because of this the methods developed forthe MIL-F-8785C standard are considered not to be suited for evaluating ying qualities forhighly augmented aircraft. The methods developed to evaluate the ying qualities againstthe Gibson criteria works for a large part of the ight and also show a high accuracy. Thismakes the methods suited for evaluation of the ying qualities.

Cette thèse de doctorat a été réalisée dans le cadre d’une convention CIFRE établie entre le laboratoire LAMIH UMR CNRS 8201 et l’équipementier automobile Valeo. Les problématiques de la thèse s’inscrivent dans un contexte proche de l’industrialisation à savoir l’estimation des couples embrayages lors des phases de changement de rapport dans une transmission à double embrayage et le contrôle de la vitesse de glissement de l’embrayage pour une transmission à simple ou à double embrayage. Afin de répondre à la problématique d’estimation de couple embrayage, un capteur virtuel de couple a été développé. Ce capteur virtuel est composé d’une estimation de la torsion des arbres de transmission basée sur une méthode d’ajout de dents virtuelles dans les capteurs incrémentaux d’une part, et d’un observateur Takagi-Sugeno discrétisé dans le domaine angulaire d’autre part. Ce procédé a permis l’estimation des couples embrayages d’une transmission à double embrayage sur une plateforme de simulation fournie par Valeo comportant un modèle complet de véhicule. Le procédé a également été testé sur des données réelles de débattement de double volant amortisseur, des estimations en ligne du couple moteur instantané acyclique et du couple embrayage ont alors été obtenues. Au cours de l’étude dédiée au glissement contrôlé de l’embrayage, une stratégie de contrôle robuste aux perturbations extérieurs induites par le conducteur et aux dispersions du système a été développée. Cette stratégie permet de répondre aux spécifications du cahier des charges en simulation. La stratégie de glissement contrôlé a également été validée sur véhicule lors d’essais sur piste et sur banc à rouleau. / This PhD has been done in an industrial framework with the so-called automotive equipment manufacturer Valeo and the laboratory of Automatic Control, Mechanics, Informatics and Human Sciences LAMIH UMR CNRS 8201 of Valenciennes, France. The issues of this PhD are closed to the industrialization context such as the clutch torque estimation during the gear shifting phases in a dual clutch transmission and the clutch slip speed control. In order to solve the inline clutch torque estimation issues, a virtual torque sensor has been developed. On one hand, this virtual sensor is composed of a shaft torsion angle estimation based on a method of virtual tooth adding into the encoder sensors. On another hand, discrete angular domain unknown input Takagi-Sugeno observer is used for the estimation of the dynamic part of transmitted torque. This methodology has permitted the estimation of the transmitted clutch torque of a dual clutch transmission in simulation. The simulation results have been obtained on a simulation platform provided by Valeo, including a complete vehicle model. The methodology has also been tested on real data of a dual mass flywheel angular deflection. Thus, online estimation of instantaneous acyclic engine torque and transmitted clutch torque has been obtained. Concerning the slip control, a robust control strategy against the external disturbances leaded to the driver and the system parameters incertitude has been developed. This strategy permits to ensure the required specifications in simulation. The strategy has been also validated on vehicle during track trials.

Au cours de la dernière décennie, le système de contrôle de production (PCS) Constant Work InProgress (CONWIP) a été étudié par un nombre croissant de publications. Compte tenu des défis industrielsactuels, tels que la nécessité de s’adapter, la personnalisation croissante des produits, la réduction des délaiset l’importance grandissante du service rendu aux clients, le ConWip semble être un PCS efficace et agilepour les industriels. Cette thèse débute par une revue systématique des travaux sur le ConWip remontant à2003 basée sur une méthode de classification originale. Cette méthode permet de catégoriser les papiers quise concentrent sur le dimensionnement, la performance, le contexte d’implémentation et la comparaison avecd'autres PCS. En plus de proposer une clé de lecture pour interpréter les approches de recherche, les critèresconsidérés répondent à des questions sur la façon de mettre en oeuvre, la façon d’optimiser et les raisonspour lesquelles utiliser le ConWip. Une étude sur les pistes de recherche proposées ou applicables au ConWipa ensuite permis de mettre en évidence les plus prometteuses et d’en extraire les principales tendances.L'objectif consiste ici à mettre à jour les lacunes de la recherche existante sur le ConWip. L'une d'entre ellesamène à des questions clés liées à la mise en oeuvre du ConWip dans un environnement caractérisé par unmix produit élevé et/ou par un mix gamme opératoire élevé. Dans ce contexte, quatre algorithmes qui génèrentdifférentes gammes génériques sont ensuite présentés. Ces gammes, appelées « gammes enveloppes » sontimplémentées dans Wipsim, un outil d'ingénierie utilisé dans les projets de conception et d'amélioration deslignes d'assemblage ConWip, qui permet de calculer les paramètres ConWip optimisés pour chacune desgammes. Un échantillon de données, dérivé d'un cas industriel, est utilisé pour tester les quatre algorithmes.Nous les comparons à travers leur sensibilité au mix produit et selon l'impact induit par l'introduction dedifférents produits atypiques dans le mix. Nos expériences montrent que nos algorithmes génèrent desgammes enveloppes pertinentes et aident les praticiens à choisir le plus adapté à leur contexte spécifique. / In the past decade, a growing body of literature has investigated the CONstant Work InProgress (ConWip) production control system (PCS). In view of the current industrial challengesentailing adaptability, product customisation, decreas- ing leadtimes and customer satisfaction, ConWipseems to be an effective and adaptive PCS for manufacturers. A ConWip systematic review datingback to 2003 and provides a guide for understanding through an original classification method. Thismethod enables the differentiation of papers that concentrate on Con- Wip sizing, performance andcontext as well as a comparison with other PCSs. In addition to providing a key to interpreting theresearch approaches, the criteria considered answers questions on how to implement, how to optimiseand why and when to use ConWip. The survey of research avenues proposed or applicable to CONWIPclassify them, highlight the most promising and extract the main trends. The final aim is to provide somegaps. One of the them deals with key questions related to the implementation of ConWip in a highproduct mix and/or high routing mix environment. Four algorithms that generate different genericroutings are presented. These routings are implemented into Wipsim, an engineering tool used inprojects to design and improve ConWip assembly lines, which allows the optimized ConWip parametersfor each routing to be calculated. A sample of data, derived from an industrial case, is used to test thefour models. We compare them via their sensitivity to the mix product and through the impact of theintroduction of different, atypical products. Our experiments show that our algorithms generatedworthwhile generic routings and help practitioners choose among them, depending on a specificcontext.

abstract: Control algorithm development for quadrotor is usually based solely on rigid body dynamics neglecting aerodynamics. Recent work has demonstrated that such a model is suited only when operating at or near hover conditions and low-speed flight. When operating in confined spaces or during aggressive maneuvers destabilizing forces and moments are induced due to aerodynamic effects. Studies indicate that blade flapping, induced drag, and propeller drag influence forward flight performance while other effects like vortex ring state, ground effect affect vertical flight performance. In this thesis, an offboard data-driven approach is used to derive models for parasitic (bare-airframe) drag and propeller drag. Moreover, thrust and torque coefficients are identified from static bench tests. Among the two, parasitic drag is compensated for in the position controller module in the PX4 firmware. 2-D circular, straight line, and minimum snap rectangular trajectories with corridor constraints are tested exploiting differential flatness property wherein altitude and yaw angle are constant. Flight tests are conducted at ASU Drone Studio and results of tracking performance with default controller and with drag compensated position controller are presented. Root mean squared tracking error in individual axes is used as a metric to evaluate the model performance. Results indicate that, for circular trajectory, the root mean squared error in the x-axis has reduced by 44.54% and in the y-axis by 39.47%. Compensation in turn degrades the tracking in both axis by a maximum under 12% when compared to the default controller for rectangular trajectory case. The x-axis tracking error for the straight-line case has improved by 44.96% with almost no observable change in the y-axis. / Dissertation/Thesis / Real-time Flight Test of Circular Trajectories / Masters Thesis Aerospace Engineering 2020

Dans la première partie de cette thèse, nous caractérisons complètement toutes les x-sorties plates et leurs lieux singuliers pour un système avec deux contrôles qui est équivalent au système chaîné. Nous appliquons aussi ce résultat au système de robot mobile avec des remorques pour calculer toutes ses x-sorties plates. Dans la deuxième partie, nous présentons un nouveau modèle pour le système à n-barres dans l'espace de dimension m+1. Nous montrons que ce système est localement équivalent au système m-chaîné et caractérisons aussi ses lieux singuliers. Ensuite, nous analysons sa propriété de platitude et donnons ses sorties plates minimales. Dans la troisième partie, nous donnons des conditions nécessaires et suffisantes pour qu'une distribution soit équivalente à la distribution de Cartan pour des surfaces. Finalement, dans la quatrième partie, nous donnons des conditions nécessaires et suffisantes vérifiables pour qu'un système multi-entrées soit linéarisable par bouclage orbital. / In the first part of the Ph.D thesis, we characterize all x-flat outputs and their singular loci of any 2-inputs driftless control system wich is equivalent to the chained system. Then we apply that result to the n-trailer system in order to calculate all its x-flats outputs. In the second part, we establish a new model of the n-bar system in (m+1)-dimensional space. With the help of this model, we show that the system is locally equivalent to the m-chained system and also describe its singular locus. Furthermore we analyse its flatness property and determine its minimal flat outputs. In the third part, we give necessary and sufficient conditions for a distribution to be lacally equivalent to the Cartan distribution for surfaces. Finally, in the fourth part, we give necessary and sufficient verifiable conditions for a multi-input affine control system to be orbital feedback linearizable.