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Frame Induced Vibration Estimation and Attenuation Scheme on a Multirotor helicopter
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-5735-5484
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
Number of Authors: 2
2015 (English)In: Decision and Control (CDC): Los Angeles, CA, 15-17 Dec. 2014, Piscataway, NJ: IEEE Communications Society, 2015, p. 5698-5703, article id 7040281Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to establish an induced frame vibration and attenuation scheme, specifically targeting the area of multi-rotor Unmanned Aerial Vehicles (UAVs), such as quadrotors. These types of unmanned small scale helicopters are characterised by small and light frames, which are vulnerable to vibrations induced by the operation of the motors or external environmental factors. The existence of such vibrations effecting the frame can significantly deteriorate the performance of the overall closed system and even drive it to instabilities. In this article spectral estimation schemes based on: a) Autoregressive (AR) modelling and b) Multiple Signal Classification (MUSIC) are being established and evaluated towards their ability to detect the induced vibration frequencies on the UAV, while an extended discussion is being presented on selecting the correct number of the identified induced vibrating frequencies. In a sequential stage, a vibration attenuation approach based on notch filtering is being presented, being able to correctly attenuate the induced vibrating frequencies in the measurements. The efficiency of the overall suggested scheme is being evaluated by experimental results that indicate the significant improvement in the measurements achieved bythe direct application of the proposed scheme.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2015. p. 5698-5703, article id 7040281
Series
I E E E Conference on Decision and Control. Proceedings, ISSN 0743-1546
Keyword [en]
Quadrotor, UAV, Information technology - Automatic control
Keyword [sv]
Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-31248DOI: 10.1109/CDC.2014.7040281Scopus ID: 2-s2.0-84988233545Local ID: 55e207bb-2536-4ee3-aeff-190655a74d28ISBN: 978-1-4799-7746-8 (print)OAI: oai:DiVA.org:ltu-31248DiVA, id: diva2:1004478
Conference
IEEE Conference on Decision and Control : 15/12/2014 - 17/12/2014
Note

Godkänd; 2015; 20140813 (geonik)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-15Bibliographically approved

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