Modeling and simulation of JetQuad aerial robot

Fashandi, Seyed Alireza Miran; Montazeri-Gh, Morteza

doi:10.1109/kbei.2017.8324898

Cited by 4 publications

(4 citation statements)

References 12 publications

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“…As mentioned earlier, the model of the JQ was developed using a bond graph in previous studies by the authors. Full details about the modeling procedure can be found in References [14][15][16]. The main assumptions used in the modeling approach are as follows:…”

Section: Jetquad Modelingmentioning

confidence: 99%

“…The mechanical part, which transfers the produced torque by the electrical part to the shaft, contains the shaft and the ball bearings. This device was also (both the mechanical part and electrical part) modeled in detail in References [14][15][16]21], and the results were validated against experimental data. The electric starter, its schematic, and the generated bond graph model are shown in Figure 4.…”

Section: Component Equationsmentioning

confidence: 99%

“…The bond graph has been used in turbomachinery applications widely: Gas turbine modeling and analysis [22][23][24], noise prediction and control [25,26], and surge prediction and control [27][28][29] are topics in which a bond graph has been successfully used. In previous studies by the authors, both propulsion and the main body of the JQ were modeled in a bond graph, and these models were then combined to predict the dynamic behavior of the system [14]. This model was used for this paper to generate more results in order to develop the control requirements for the JQ as well as to identify control modes that should be satisfied simultaneously for safe and optimal operation of the JQ.…”

mentioning

confidence: 99%

“…This strategy is to satisfy all jet engine control modes simultaneously to protect the engine from malfunctions and physical limitations. The modeling and simulation of the JQ was presented and discussed in detail in References [14][15][16]. The bond graph as a graphical representation tool for physical dynamic systems was utilized to model and simulate the dynamic behavior of the JQ.…”

mentioning

confidence: 99%

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Control Requirements for Future Gas Turbine-Powered Unmanned Drones: JetQuads

2018

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The next generation of aerial robots will be utilized extensively in real-world applications for different purposes: Delivery, entertainment, inspection, health and safety, photography, search and rescue operations, fire detection, and use in hazardous and unreachable environments. Thus, dynamic modeling and control of drones will play a vital role in the growth phase of this cutting-edge technology. This paper presents a systematic approach for control mode identification of JetQuads (gas turbine-powered quads) that should be satisfied simultaneously to achieve a safe and optimal operation of the JetQuad. Using bond graphs as a powerful mechatronic tool, a modular model of a JetQuad including the gas turbine, electric starter, and the main body was developed and validated against publicly available data. Two practical scenarios for thrust variation as a function of time were defined to investigate the compatibility and robustness of the JetQuad. The simulation results of these scenarios confirmed the necessity of designing a compatibility control loop, a stability control loop, and physical limitation control loops for the safe and errorless operation of the system. A control structure with its associated control algorithm is also proposed to deal with future challenges in JetQuad control problems.

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Section: Jetquad Modelingmentioning

confidence: 99%