Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas

Detalhes bibliográficos
Ano de defesa: 2020
Autor(a) principal: Rosa, Lucas Wilke Dalla lattes
Orientador(a): Siluk, Julio Cezar Mairesse lattes
Banca de defesa: Paglione, Pedro
Tipo de documento: Dissertação
Tipo de acesso: Acesso aberto
Idioma: por
Instituição de defesa: Universidade Federal de Santa Maria
Centro de Tecnologia
Programa de Pós-Graduação: Programa de Pós-Graduação em Engenharia de Produção
Departamento: Engenharia de Produção
País: Brasil
Palavras-chave em Português:
VANT
Controle ótimo
Modelagem
Palavras-chave em Inglês:
Hardware-in-the-loop
UAV
Optimal control
Modeling
Área do conhecimento CNPq:
CNPQ::ENGENHARIAS::ENGENHARIA DE PRODUCAO
Link de acesso: http://repositorio.ufsm.br/handle/1/21149
Resumo: This work deals with the design of an penta-rotor Unmanned Aerial Vehicle (UAV), covering the conceptual phase, control project and simulations that allows validating the operation of the complete system. Such a vehicle is intended for use in agricultural applications, spraying crops or similar applications. For this, a penta rotor type vehicle with coaxial central engine and combustion propulsion is proposed. The work covers the conceptual design in CAD, based on research on propulsion, payload required and products available in the market. With the CAD defined, the mathematical modeling of the aircraft is carried out, taking into account its mass, inertia and center of gravity variation, which are of fundamental importance in this work. After the modeling is finished, it is started the design of the optimal control system with reference tracking, where the reference is generated by a guiding algorithm. The design of the UAV discrete control system is also done in this work, being implemented in an embedded microcontroller for Hardware In The Loop testing. The software used in the design of the controllers is MATLAB/Simulink and the microcontroller is the Arduino Uno.
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spelling 2021-06-18T17:03:39Z2021-06-18T17:03:39Z2020-02-13http://repositorio.ufsm.br/handle/1/21149This work deals with the design of an penta-rotor Unmanned Aerial Vehicle (UAV), covering the conceptual phase, control project and simulations that allows validating the operation of the complete system. Such a vehicle is intended for use in agricultural applications, spraying crops or similar applications. For this, a penta rotor type vehicle with coaxial central engine and combustion propulsion is proposed. The work covers the conceptual design in CAD, based on research on propulsion, payload required and products available in the market. With the CAD defined, the mathematical modeling of the aircraft is carried out, taking into account its mass, inertia and center of gravity variation, which are of fundamental importance in this work. After the modeling is finished, it is started the design of the optimal control system with reference tracking, where the reference is generated by a guiding algorithm. The design of the UAV discrete control system is also done in this work, being implemented in an embedded microcontroller for Hardware In The Loop testing. The software used in the design of the controllers is MATLAB/Simulink and the microcontroller is the Arduino Uno.Este trabalho trata do projeto de um Veículo Aéreo Não tripulado (VANT) do tipo penta rotor, abrangendo a fase conceitual, projeto de controle e simulações que permitem validar o funcionamento do sistema completo. O veículo tem como propósito a utilização para aplicações agrícolas, para aplicação automática de agentes químicos ou tarefas similares. Para isso, é proposto um veículo do tipo penta-rotor com motor central coaxial e propulsão a combustão. O trabalho inclui o projeto conceitual em CAD, tendo como base pesquisa sobre propulsão, carga útil necessária e produtos disponíveis no mercado. Com o CAD definido, é realizada a modelagem matemática da aeronave, levando em consideração a sua variação de massa, inércia e centro de gravidade, que são de fundamental importância neste trabalho. Após a modelagem é feito o projeto do sistema de controle ótimo com rastreamento da referência, onde a mesma é gerada por um algoritmo de guiagem. Também é feita a aplicação do sistema de controle ótimo discreto no VANT, sendo aplicado em um microcontrolador embarcado para testes Hardware In The Loop. O software utilizado no projeto dos controladores é o MATLAB/Simulink e o microcontrolador é o Arduino Uno.porUniversidade Federal de Santa MariaCentro de TecnologiaPrograma de Pós-Graduação em Engenharia de ProduçãoUFSMBrasilEngenharia de ProduçãoAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessVANTControle ótimoModelagemHardware-in-the-loopUAVOptimal controlModelingCNPQ::ENGENHARIAS::ENGENHARIA DE PRODUCAOProjeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolasConceptual design and control system of penta rotor UAV for agricultural applicationsinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisSiluk, Julio Cezar Mairessehttp://lattes.cnpq.br/8315298509051752Silva, André Luís daXXXXXXXXXXXXXXPaglione, PedroXXXXXXXXXXXXXXXXXXXXXXRosa, Lucas Wilke Dalla300800000005600459ed50f-f433-4c93-a8c8-5a7d43df4239dfcffc0a-5605-4d7e-9c1f-6b444d560ac1007c6d35-8261-4bdf-8695-1c9f7540412d399e20f1-f472-4933-b830-1f3f5319c65ereponame:Biblioteca Digital de Teses e Dissertações do UFSMinstname:Universidade Federal de Santa Maria (UFSM)instacron:UFSMCC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; 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dc.title.por.fl_str_mv Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
dc.title.alternative.eng.fl_str_mv Conceptual design and control system of penta rotor UAV for agricultural applications
title Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
spellingShingle Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
Rosa, Lucas Wilke Dalla
VANT
Controle ótimo
Modelagem
Hardware-in-the-loop
UAV
Optimal control
Modeling
CNPQ::ENGENHARIAS::ENGENHARIA DE PRODUCAO
title_short Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
title_full Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
title_fullStr Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
title_full_unstemmed Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
title_sort Projeto conceitual e sistema de controle de VANT penta-rotor para aplicações agrícolas
author Rosa, Lucas Wilke Dalla
author_facet Rosa, Lucas Wilke Dalla
author_role author
dc.contributor.advisor1.fl_str_mv Siluk, Julio Cezar Mairesse
dc.contributor.advisor1Lattes.fl_str_mv http://lattes.cnpq.br/8315298509051752
dc.contributor.advisor-co1.fl_str_mv Silva, André Luís da
dc.contributor.advisor-co1Lattes.fl_str_mv XXXXXXXXXXXXXX
dc.contributor.referee1.fl_str_mv Paglione, Pedro
dc.contributor.authorLattes.fl_str_mv XXXXXXXXXXXXXXXXXXXXXX
dc.contributor.author.fl_str_mv Rosa, Lucas Wilke Dalla
contributor_str_mv Siluk, Julio Cezar Mairesse
Silva, André Luís da
Paglione, Pedro
dc.subject.por.fl_str_mv VANT
Controle ótimo
Modelagem
topic VANT
Controle ótimo
Modelagem
Hardware-in-the-loop
UAV
Optimal control
Modeling
CNPQ::ENGENHARIAS::ENGENHARIA DE PRODUCAO
dc.subject.eng.fl_str_mv Hardware-in-the-loop
UAV
Optimal control
Modeling
dc.subject.cnpq.fl_str_mv CNPQ::ENGENHARIAS::ENGENHARIA DE PRODUCAO
description This work deals with the design of an penta-rotor Unmanned Aerial Vehicle (UAV), covering the conceptual phase, control project and simulations that allows validating the operation of the complete system. Such a vehicle is intended for use in agricultural applications, spraying crops or similar applications. For this, a penta rotor type vehicle with coaxial central engine and combustion propulsion is proposed. The work covers the conceptual design in CAD, based on research on propulsion, payload required and products available in the market. With the CAD defined, the mathematical modeling of the aircraft is carried out, taking into account its mass, inertia and center of gravity variation, which are of fundamental importance in this work. After the modeling is finished, it is started the design of the optimal control system with reference tracking, where the reference is generated by a guiding algorithm. The design of the UAV discrete control system is also done in this work, being implemented in an embedded microcontroller for Hardware In The Loop testing. The software used in the design of the controllers is MATLAB/Simulink and the microcontroller is the Arduino Uno.
publishDate 2020
dc.date.issued.fl_str_mv 2020-02-13
dc.date.accessioned.fl_str_mv 2021-06-18T17:03:39Z
dc.date.available.fl_str_mv 2021-06-18T17:03:39Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://repositorio.ufsm.br/handle/1/21149
url http://repositorio.ufsm.br/handle/1/21149
dc.language.iso.fl_str_mv por
language por
dc.relation.cnpq.fl_str_mv 300800000005
dc.relation.confidence.fl_str_mv 600
dc.relation.authority.fl_str_mv 459ed50f-f433-4c93-a8c8-5a7d43df4239
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dc.rights.driver.fl_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Universidade Federal de Santa Maria
Centro de Tecnologia
dc.publisher.program.fl_str_mv Programa de Pós-Graduação em Engenharia de Produção
dc.publisher.initials.fl_str_mv UFSM
dc.publisher.country.fl_str_mv Brasil
dc.publisher.department.fl_str_mv Engenharia de Produção
publisher.none.fl_str_mv Universidade Federal de Santa Maria
Centro de Tecnologia
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