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Modélisation et commande d'engins volants flexibles

Abstract : The interest of dynamic modeling and control of the autonomous flying objects increased significantly during these last years. Complexity and capability of these flying objects are expanding rapidly now, and the range of missions their designed to support is growing. In order to fulfil this requirement, it is necessary, in one hand, to introduce the effect of the structural flexibility and the aerodynamic phenomenon in the dynamic model, and in the other hand, to build a suitable strategy of command and stabilization for these flying objects. The work is registered within this framework, and relates two types of engines: - Lighter than air vehicle: Application on the modelling and control of flexible airship. - Heavier than air vehicle: Application on the modelling and control of flexible micro-drone. We present a general model of autonomous flexible flying engine undergoing great overall motion and small elastic displacements. The formalism used is based on the Newton- Euler approach, which is frequently used for rigid flying objects. In this study we generalize the existing formalisms for rigid bodies, by including the effect of flexibility without destroying the total methodology. A modal synthesis is used. A hybrid method based on the energetic principles and Lagrange equations is presented. The phenomenon of the added masses is also taken into account. In order to integrate the fluid-structure interaction of a flexible airship, we develop an original analytical formulation of the problem using both the new notion of flexible flow potential, and the development of the kinetic energy of the air constrained by the motion and the vibration of the airship. This method allows to put in an obvious place the coupling "overall motion - flexibility" in the added mass matrix. We also present the dynamic and aerodynamic model of a flexible quadrirotor called XSF, designed in the IBISC laboratory and intended for an interuniversity competition for microdrones. A robust methodology based on the " Backstepping " control is realized to stabilize the airship around a desired position, and a PID controller is proposed to stabilise the XSF. The strategy of command is compelled by imperative to optimize the ratio precision/portability, to allow an easy insertion of the developed algorithms in the embedded electronics. A numerical validation is presented in the end of this report.
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Contributor : Frédéric Davesne <>
Submitted on : Thursday, March 18, 2010 - 7:19:50 PM
Last modification on : Wednesday, July 8, 2020 - 9:42:21 AM
Long-term archiving on: : Tuesday, June 22, 2010 - 10:39:16 AM


  • HAL Id : tel-00465065, version 1



Selima Bennaceur. Modélisation et commande d'engins volants flexibles. Automatique / Robotique. Université d'Evry-Val d'Essonne, 2009. Français. ⟨tel-00465065⟩



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