EXPERIMENT AND DYNAMIC ANALYSIS OF AN INDOOR INSPECTION DRONE
Recently, there has been a new interest in using drones for aircraft inspection as part of aircraft maintenance programs. However, there are still various problems with the development of inspection drones, such as providing navigation data, the complex shape of aircraft, and the risk of collision....
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/78973 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Recently, there has been a new interest in using drones for aircraft inspection as part of aircraft maintenance programs. However, there are still various problems with the development of inspection drones, such as providing navigation data, the complex shape of aircraft, and the risk of collision. FTMD has been developing a small wheeled multirotor drone since 2019. Although, it has many simulations and control designs that have been conducted, the number of experiments done to prove the concept is not adequate yet. The performance and stability testing in every possible flight condition has not been conducted. The accuracy of the data obtained from testing has not been verified.
In this research, a series of experiments will be presented to evaluate the design and performance of the FTMD inspection drone. The main objective of this thesis is to design and conduct flight tests for the inspection drone to determine its flight dynamic characteristics. The FTMD drone design utilizes two pairs of wheels, expected to improve the performance of the drone during its crawling mode of operation. The drone uses Betaflight as its Flight Control System, which utilizes a feature called blackbox, which logs flight data information on every control loop. Preprocessing process afterward still needed to be conducted to be used as dynamic characteristics analysis.
Experiments conducted are the basic maneuvers for inspection, including hovering, cruising, and crawling maneuver. Each of those is conducted five times. In the crawling maneuver, two modes have been conducted, with and without a self-leveling mode. Due to the inherent design of the drone, achieving forward motion requires the drone to be pitching at an angle so that a thrust component in the forward direction is produced. This means that the pilot is required to control two inputs, pitch and throttle, at the same time to be able to move the drone on the ground. Using the data from the experiment, System Identification is conducted to see the dynamic parameters of the controlled drone, resulting in an overdamped stable system, with 5.57 as the natural frequency.
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