Implementación y puesta a punto de banco de ensayos de 4 grados de libertad para drones multirotor.
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Date
2024
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Publisher
Universidad de Concepción
Abstract
El proyecto de memoria consistió en la fabricación de un banco de ensayo para drones multirotor, con el propósito de brindar al Laboratorio de Técnicas Aeroespaciales (LTA) una plataforma para probar el funcionamiento de drones, validación de nuevos sistemas de control y contribuir con el proyecto FONDECYT de folio 11230330 [1]. El objetivo de este proyecto es satisfacer la necesidad de calibrar drones y validaciones de sistemas de control autónomos de drones, para ello se diseñó un banco de ensayo que permitió otorgar al dron, tres ejes de libertad: roll, pitch y yaw, junto con el eje de elevación. La fabricación del banco es la continuación del proyecto de ingeniería aeroespacial 2024 del estudiante de ingeniería civil aeroespacial [2], el cual cambio significativamente en su estructura. El nuevo banco permite intercambiar la configuración estructural entre dos marcos dependiendo del dron a usar, para drones de alta capacidad se usará el marco DAC y para drones de mediana capacidad se usará el marco DMC.
Las pruebas de rendimiento realizadas en el banco permitieron comparar el comportamiento del dron o piloto automático del dron en un vuelo libre y un vuelo en el banco de ensayo. Los resultados de estas pruebas determinaron que hay una gran diferencia entre comportamiento del autopiloto del dron en el vuelo libre y el vuelo en el banco de ensayo. El primer vuelo posee un comportamiento de sistema de control con error estacionario y el segundo vuelo, un sistema de control con sobre impulso, lo anterior permitió concluir que el piloto automático del dron requiere de más trabajo de control al estar instalado en el banco de ensayo. Se limitó el grado de libertad del eje de yaw por debajo de los 360° y al eje de elevación a cero, debido a problemas externos que afectaron el cronograma.
El banco requiere de mejoras que optimicen su rendimiento para que el dron en el banco de ensayo posea un comportamiento más similar a la de un vuelo libre, junto con permitir al banco de ensayo poseer un eje de yaw de 360° sin limitación y grado de libertad en el eje de elevación, cumpliendo así, todos los objetivos del proyecto.
The memory project consisted of the development of a test bench for multirotor drones, with the purpose of providing the Aerospace Techniques Laboratory (LTA, acronyms in Spanish) a platform to test drone performance, validate new control systems and contribute to the FONDECYT project with reference number 11230330 [1]. The objective of this project is to meet the need for calibrating drones and validating autonomous drone control systems, to achieve this, a test bench was designed that allowed the drone to have three degrees of freedom: roll, pitch, and yaw, along with the elevation axis. The construction of the bench is a continuation of the 2024 aerospace engineering project of the civil aerospace engineering student [2], which underwent significant changes in its structure. The new bench allows for swapping the structural configuration between two frames depending on the drone to be used: for high-capacity drones, the DAC frame will be used, and for medium-capacity drones, the DMC frame will be used. The performance tests carried out on the drone allowed for a comparison of the behavior of the drone's autopilot during a free flight and a test bench flight. The results of these tests determined that there is a significant difference between the behavior of the autopilot in free flight and on the test bench. The first flight exhibits a control system behavior with steady-state error, while the second flight shows a control system with overshoot. This led to the conclusion that the drone's autopilot requires more control effort when installed on the test bench. The degrees of freedom of the yaw axis were limited to less than 360° and the elevation axis to zero due to external issues that affected the schedule. The test bench requires improvements to optimize its performance so that the drone on the test bench behaves more similarly to a free flight. Additionally, it should allow the test bench to have a yaw axis with 360° of freedom and an elevation axis with full degrees of freedom, thereby fulfilling all the project objectives.
The memory project consisted of the development of a test bench for multirotor drones, with the purpose of providing the Aerospace Techniques Laboratory (LTA, acronyms in Spanish) a platform to test drone performance, validate new control systems and contribute to the FONDECYT project with reference number 11230330 [1]. The objective of this project is to meet the need for calibrating drones and validating autonomous drone control systems, to achieve this, a test bench was designed that allowed the drone to have three degrees of freedom: roll, pitch, and yaw, along with the elevation axis. The construction of the bench is a continuation of the 2024 aerospace engineering project of the civil aerospace engineering student [2], which underwent significant changes in its structure. The new bench allows for swapping the structural configuration between two frames depending on the drone to be used: for high-capacity drones, the DAC frame will be used, and for medium-capacity drones, the DMC frame will be used. The performance tests carried out on the drone allowed for a comparison of the behavior of the drone's autopilot during a free flight and a test bench flight. The results of these tests determined that there is a significant difference between the behavior of the autopilot in free flight and on the test bench. The first flight exhibits a control system behavior with steady-state error, while the second flight shows a control system with overshoot. This led to the conclusion that the drone's autopilot requires more control effort when installed on the test bench. The degrees of freedom of the yaw axis were limited to less than 360° and the elevation axis to zero due to external issues that affected the schedule. The test bench requires improvements to optimize its performance so that the drone on the test bench behaves more similarly to a free flight. Additionally, it should allow the test bench to have a yaw axis with 360° of freedom and an elevation axis with full degrees of freedom, thereby fulfilling all the project objectives.
Description
Tesis presentada para optar al título de Ingeniero Civil Aeroespacial
Keywords
Drones, Aeronaves Pruebas, Ingeniería aeroespacial