Modeling and Controls of Fluid-Structure Interactions (FSI) in Dynamic Morphing Flight
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arXiv
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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| _version_ | 1866911925031403520 |
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| author | Gupta, Bibek Sihite, Eric Ramezani, Alireza |
| author_facet | Gupta, Bibek Sihite, Eric Ramezani, Alireza |
| contents | The primary aim of this study is to enhance the accuracy of our aerodynamic Fluid-Structure Interaction (FSI) model to support the controlled tracking of 3D flight trajectories by Aerobat, which is a dynamic morphing winged drone. Building upon our previously documented Unsteady Aerodynamic model rooted in horseshoe vortices, we introduce a new iteration of Aerobat, labeled as version beta, which is designed for attachment to a Kinova arm. Through a series of experiments, we gather force-moment data from the robotic arm attachment and utilize it to fine-tune our unsteady model for banking turn maneuvers. Subsequently, we employ the tuned FSI model alongside a collocation control strategy to accomplish 3D banking turns of Aerobat within simulation environments. The primary contribution lies in presenting a methodical approach to calibrate our FSI model to predict complex 3D maneuvers and successfully assessing the model's potential for closed-loop flight control of Aerobat using an optimization-based collocation method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_13039 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Modeling and Controls of Fluid-Structure Interactions (FSI) in Dynamic Morphing Flight Gupta, Bibek Sihite, Eric Ramezani, Alireza Robotics The primary aim of this study is to enhance the accuracy of our aerodynamic Fluid-Structure Interaction (FSI) model to support the controlled tracking of 3D flight trajectories by Aerobat, which is a dynamic morphing winged drone. Building upon our previously documented Unsteady Aerodynamic model rooted in horseshoe vortices, we introduce a new iteration of Aerobat, labeled as version beta, which is designed for attachment to a Kinova arm. Through a series of experiments, we gather force-moment data from the robotic arm attachment and utilize it to fine-tune our unsteady model for banking turn maneuvers. Subsequently, we employ the tuned FSI model alongside a collocation control strategy to accomplish 3D banking turns of Aerobat within simulation environments. The primary contribution lies in presenting a methodical approach to calibrate our FSI model to predict complex 3D maneuvers and successfully assessing the model's potential for closed-loop flight control of Aerobat using an optimization-based collocation method. |
| title | Modeling and Controls of Fluid-Structure Interactions (FSI) in Dynamic Morphing Flight |
| topic | Robotics |
| url | https://arxiv.org/abs/2406.13039 |