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HEIGHT ESTIMATION AND CONTROL OF A ROTORCRAFT IN GROUND EFFECT USING MULTIPLE PRESSURE PROBES

dc.contributor.advisorPaley, Derek Aen_US
dc.contributor.authorHooi, Chin Gianen_US
dc.date.accessioned2015-09-18T05:42:27Z
dc.date.available2015-09-18T05:42:27Z
dc.date.issued2015en_US
dc.identifierhttps://doi.org/10.13016/M22K9J
dc.identifier.urihttp://hdl.handle.net/1903/16970
dc.description.abstractThis thesis describes a dynamic height estimator and controller for rotorcraft landing and hovering in ground effect based on flowfield sensing and modeling. The rotor downwash in ground effect is represented using a ring-source potential flow model selected for real-time use. Experimental verification of the flow model and an augmented flow model for tilt are presented. A nonlinear dynamic model of a compound pendulum heave test stand that reduces to the dynamics of a rotorcraft in ground effect is presented with open-loop analysis and closed-loop control simulation. Equations of motion and stability characterization of of a heaving rotor IGE are derived for external perturbations and it is shown that a uniform sideward wind does not cause instability and uniform axial wind from the top can cause instability. Flowfield velocity measurements are assimilated into a grid-based recursive Bayesian filter to estimate height above ground in both simulation and experiment. Height tracking in ground effect and landing using the estimated height are implemented with a dynamic linear controller in both simulation and experiment. Mean estimation and motion errors are found to be no greater than 5% and 9% respectively, demonstrating that height estimation and control is possible with only flow sensing and modeling.en_US
dc.language.isoenen_US
dc.titleHEIGHT ESTIMATION AND CONTROL OF A ROTORCRAFT IN GROUND EFFECT USING MULTIPLE PRESSURE PROBESen_US
dc.typeThesisen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.contributor.departmentAerospace Engineeringen_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pquncontrolledBayesian Filteren_US
dc.subject.pquncontrolledFlow-based height estimationen_US
dc.subject.pquncontrolledMulti-component pressure probesen_US
dc.subject.pquncontrolledObserver-based Feedback Controlen_US
dc.subject.pquncontrolledRotorcraft Landing in Ground Effecten_US
dc.subject.pquncontrolledRotorcraft Shipboard Landingen_US


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