Print Email Facebook Twitter We fly as one Title We fly as one: Design and Joint Control of a Conjoined Biplane and Quadrotor Author Schröter, Shawn (TU Delft Aerospace Engineering) Contributor Smeur, E.J.J. (mentor) Remes, B.D.W. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2022-03-11 Abstract Unmanned Aerial Vehicles, UAVs, serve many purposesthese days, such as short-range inspectionsand long-distance search and rescue missions. Long-distance missions can entail a search in a building. Such missions require a large aircraft for endurance and a small aircraft for manoeuvrability in a building.This paper proposes a novel combination of a quadrotor and a hybrid biplane capable of joint hover, joint forward flight, and mid-air disassembly followed by separate flight. During joint flight, the quadcopter and the biplane have no intercommunication.This paper covers the design of a release system and a joint control strategy. Firstly, the in-flightrelease is successfully tested in joint hover up to a forward pitch angle of -18 [deg]. Secondly, three control strategies for the quadrotor are compared:a proportional angular rate damper, a proportional angular acceleration damper, and constant thrust without attitude control.In all cases, the biplane uses a cascaded INDI attitude controller. Simulation and practical tests show that for intentional attitude changes, the different strategiesare of minimal influence. However, the angular rate damperstrategy for disturbance rejection has the lowest roll angle error and requires the smallest input command. To reference this document use: http://resolver.tudelft.nl/uuid:703d5b28-75c1-4d8b-a1a6-93510aed7b29 Part of collection Student theses Document type master thesis Rights © 2022 Shawn Schröter Files PDF Thesis_Joint_control_V1.0 ... hr_ter.pdf 21.69 MB Close viewer /islandora/object/uuid:703d5b28-75c1-4d8b-a1a6-93510aed7b29/datastream/OBJ/view