PROJETO DE CONTROLE DE ESTABILIZAÇÃO DE ATITUDE E ALTITUDE DE PLATAFORMA AÉREA TILTROTOR BIMOTOR COM MOTORES NÃO HOMOGÊNEOS

Leonardo Cardoso Botelho; Geovany Araújo Borges; João Yoshiyuki Ishihara

doi:10.20906/SBAI-SBSE-2023/3949

Leonardo Cardoso Botelho Departamento de Engenharia Elétrica, Universidade de Brasília, DF
Geovany Araújo Borges Departamento de Engenharia Elétrica, Universidade de Brasília, DF
João Yoshiyuki Ishihara Departamento de Engenharia Elétrica, Universidade de Brasília, DF

DOI: https://doi.org/10.20906/SBAI-SBSE-2023/3949

Keywords: Tiltrotor, Aerial Robotics, Dynamic Control, VTOL

Abstract

The present work describes a non-linear dynamic model of a twin-engine Tiltrotor aerial platform and performs the identification of its physical parameters with a focus on nonhomogeneous propulsion systems, a situation in which the propulsion engines together with their propellers do not behave identically from a physical point of view. In addition, an attitude and altitude control system is also developed, as well as a simulator in Simulink software.