Thesis

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  • Topic: Control theory, Ducted fan, Pulse-width modulation
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c 2004 by Joel Michael Rubel. All rights reserved

DESIGN AND CONTROL OF HOVERCRAFTS OVER A NETWORK

BY

JOEL MICHAEL RUBEL
B.S.M.E., Bradley University, 2001

THESIS Submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechanical Engineering in the Graduate College of the University of Illinois at Urbana-Champaign, 2004

Urbana, Illinois

To Alison, Leila and Gilbert

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Acknowledgments
My contribution to the HoTDeC project would not have been possible without the help of the entire team. First I would like to thank Andrew Stubbs for his patience and willingness to explain the concepts that I did not understand, and for keeping sanity in the lab during the 20 hour days. Vladimer Vladimerou contributed a majority of the work on the network side of the project, and his unique sense of humor kept us all laughing, he is the architect. Also, I would like to thank Adam Fulford for his work with the vision system and for helping out when a second pair of hands were needed. Jim Leistra also contributed greatly on the multiple redesigns on the hovercraft. I would also like to thank my adviser Geir Dullerud for giving me the opportunity to work on such a wonderful project. Finally, I would like to thank Alison Geraci for the support and understanding that she gave me during my graduate school experience.

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Table of Contents
Page List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . List of Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Chapter 2 Test Stand Fabrication, Components, and Set Up . . . . . . . . . 2.1 Ducted Fan and Fixture . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 DSP, Interface Test Stand and Power Supplies . . . . . . . . . . . . . 2.3 Set Up of the Test Apparatus . . . . . . . . . . . . . . . . . . . . . . 2.3.1 Fabrication of the Hall Effect Assembly and the Ducted Fan . 2.3.2 Connection of the Test Hardware . . . . . . . . . . . . . . . . 2.3.3 Calibration of the Test Apparatus . . . . . . . . . . . . . . . Chapter 3 Investigation to Produce Additional Thrust 3.1 Power Sources . . . . . . . . . . . . . . . . . . . 3.1.1 NiCd Batteries . . . . . . . . . . . . . . 3.1.2 NiMH Batteries . . . . . . . . . . . . . . 3.1.3 Lithium Polymer Batteries . . . . . . . 3.2 MOSFETs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii ix x 1 4 4 6 7 7 9 11 13 13 14 14 15 15 17 17 20 22 23 25 25 26 27 29 29 30

Chapter 4 System Identification and Control of the Electric Ducted 4.1 Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 Frequency Analysis . . . . . . . . . . . . . . . . . . . . . . . 4.3 Control of the Ducted Fan . . . . . . . . . . . . . . . . . . . 4.4 Results of Identification and Control of the Ducted Fan . .

Fan . . . . . . . . . . . .

Chapter 5 System Identification and Control of the Hoverpuck . . . . . . . . . 5.1 System Identification Methodology . . . . . . . . . . . . . . . . . . . . . 5.2 Experimental Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Theoretical Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4 Control of the Hoverpuck . . . . . . . . . . . . . . . . . . . . . . . . . . 5.4.1 Controller and Estimator Design and Implementation . . . . . . 5.4.2 DSP Control and Estimation Algorithm and Trajectory Planning

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Chapter 6 Transition to the Hovercraft Vehicle . . . . . ....
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