1. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 1 http://www.epu.bg

2. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 2 OUR PARTNERS

3. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 3 Department of Applied Computers Systems and Communication Technologies BACHELOR'S PROGRAMMES  Computer systems and networks  Applied Informatics  Telecommunications 3

4. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 4 MASTERS PROGRAMS  Software technologies  Computer networks  Applied Informatics  Mobile communications  High-performance systems and technologies  Intelligent Systems (Robotics)

5. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 5 Lab 808 “Intelligent Systems & Robotics” Laboratory equipment and environment for simulation and experimental demonstration of the control algorithms

6. Modeling of air flux and synthesis of flight control system for autonomous duo-copter. Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria 6

7. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 7 Main objectives Duo-copter modeling –Derive the model based on theoretical principles and using a robotics approach. –Gain physical insight on the major effects governing helicopter behavior. –Provide a simple yet accurate helicopter model. Path following controller design –Develop a controller based on a integrated guidance and control strategy.

8. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 8 Wide and valuable range of applications. Relevant research challenges, combining multiple fields of knowledge. Availability of increasingly accurate, reliable and miniaturized sensors. Autonomous vehicles Motivations

9. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 9 High maneuvering capabilities: –Vertical flight trajectories (VTOL) and hovering –High degrees of lateral and longitudinal motion control. Strongly coupled and naturally unstable nonlinear dynamic system. Autonomous duo-copter Motivations

10. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 10 Potential Applications Types of applications –Operation problems in hostile environments or unreachable locations. –Precise or repetitive tasks. Examples:  Topographical and geological surveying.  Volcano or forest fire surveillance missions.  Traffic and air pollution monitoring.  Cost-effective spraying of crops.

11. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 11 Mathematical modeling of a duo-copter –6 DoF rigid body dynamics. –Main rotor: rotary-wing dynamics and aerodynamics. –Other components: fuselage, horizontal tailplane, vertical fin. Path following controller design –Error space definition. –Gain-scheduled control theory. Topics

12. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 12 {U}- inertial frame {CM}- body-fixed frame Helicopter model description

13. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 13 Rigid Body Dynamics Equations of motion where

14. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 14 Helicopter configuration

15. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 15 Main forces and moments side viewtop view

16. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 16 Main rotor - General description Primary source of lift, propulsion and control. Working principle: –Blade rotation on air generates aerodynamic lift (and drag) forces. –Variation of blade pitch angle is used to control these loads. –Opposite reaction to the lift force: the induced downwash (conservation of momentum)

17. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 17 Rotor blade motions: Rotation

18. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 18 Blade pitching - rotor control system Main rotor control variables Blade tipBlade root

19. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 19 Swash plate Mechanical device used to transmit control inputs to the rotating blades.

20. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 20 Blade motions: flap and lag Flap angle β(ψ) Lag angle ζ(ψ)

21. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 21 Rotor aerodynamics Momentum theory –Global theory based on the conservation laws of fluid dynamics. –Estimates the thrust generated by a propeller or rotor. 2D airfoil theory –Applied to blade section elements. –Estimates local lift and drag as functions of local flow velocity and incidence.

22. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 22 Momentum theory Hover Vertical climb

23. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 23 Momentum theory (2) Other flight regimes

24. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 24 Blade aerodynamics Lift Drag

25. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 25 Adopted model –Rigid blade, with centre hinge spring. Flapping moment equilibrium Blade dynamics

26. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 26 Blade dynamics (2) Flapping moment equilibrium Flapping frequency ratio Lock number

27. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 27 Blade dynamics (3) Derivation method – reference frames: {cm}, {hub}, {hw}, {b}, {bf}

28. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 28 Rotor dynamics, vector of flapping angles for n b - bladed rotor. Rotor flapping dynamics: Transformation from Individual to Multi-blade coordinates (MBC), –Benefit: eliminate first order harmonics.

29. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 29 Multi-blade coordinates Coning mode

30. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 30 Multi-blade coordinates (2) Longitudinal cyclic mode Lateral cyclic mode

31. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 31 Multi-blade coordinates (3) Steady-state solution –MBC –IBC Flapping modes

32. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 32 Main rotor forces and moments Forces Moments

33. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 33 Main rotor block diagram Inputs State Outputs

34. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 34 Tail rotor

35. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 35 Fuselage

36. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 36 Empennage Horizontal tail plane Vertical fin

37. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 37 Model assembly

38. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 38 Path following controller design Problem: steer the helicopter, at fixed speed, along trimming paths defined in an inertial frame. Path following strategy: –System equations are expressed in a generalized error space. –Problem is transformed into that of driving the error vector to zero.

39. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 39 Path following controller design Sequence of steps: i) selection of a set of relevant trimming paths, ii) linearization of the model about the selected trimming paths, iii) design of a linear path following controller for each linear model, iv) implementation of the resultant non-linear path following controller using the gain scheduling technique.

40. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 40 Simulation results

41. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 41 Simulation results Simulation beginning, 3D view with orientation

42. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 42 Simulation results Time evolution of blade pitch commands

43. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 43 Conclusions Main contributions: Development of a dynamic helicopter model suitable for control purposes. –Establish a sound theoretical basis for control system design. Design and implementation of a path following controller –Application of an integrated guidance and control strategy to the case of helicopters.

44. Click to edit Master title style “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. 44 Directions for future work Analysis of the developed model: –Trimming, stability, and response. Model validation and identification from real data. Redesign of path following controller: –Accommodate all trimming paths. –Include main rotor dynamics. –Address the problem in other frameworks.

45. Modeling of air flux and synthesis of flight control system for autonomous duo-copter. Dr.-Eng. Ognyan MANOLOV, Assoc. Prof. “Flowing Matter: Application, Dissemination and Outreach” Workshop COST Action MP1305, Work Group 4, 27-28 April 2015,BASc, Sofia, Bulgaria Thank you for your attention and the patience ! 45