This PhD thesis presents the results, achieved at the Aerospace Engineering Department
Laboratories of the University of Bologna, concerning the development of a small scale
Rotary wing UAVs (RUAVs).
In the first part of the work, a mission simulation environment for rotary wing UAVs was
developed, as main outcome of the University of Bologna partnership in the CAPECON
program (an EU funded research program aimed at studying the UAVs civil applications and
economic effectiveness of the potential configuration solutions). The results achieved in
cooperation with DLR (German Aerospace Centre) and with an helicopter industrial partners
will be described.
In the second part of the work, the set-up of a real small scale rotary wing platform was
performed. The work was carried out following a series of subsequent logical steps from
hardware selection and set-up to final autonomous flight tests.
This thesis will focus mainly on the RUAV avionics package set-up, on the onboard
software development and final experimental tests.
The setup of the electronic package allowed recording of helicopter responses to pilot
commands and provided deep insight into the small scale rotorcraft dynamics, facilitating the
development of helicopter models and control systems in a Hardware In the Loop (HIL)
simulator. A neested PI velocity controller1 was implemented on the onboard computer and
autonomous flight tests were performed. Comparison between HIL simulation and experimental results showed good agreement.
| Identifer | oai:union.ndltd.org:unibo.it/oai:amsdottorato.cib.unibo.it:439 |
| Date | 15 June 2007 |
| Creators | Teodorani, Barbara <1969> |
| Contributors | Saggiani, Gian Marco |
| Publisher | Alma Mater Studiorum - Università di Bologna |
| Source Sets | Università di Bologna |
| Language | English |
| Detected Language | English |
| Type | Doctoral Thesis, PeerReviewed |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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