Browsing by Keyword "Actuators"
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Item Modeling and control of an overactuated aerial vehicle with four tiltable quadrotors attached by means of passive universal joints(IEEE, 2020-10) Iriarte, Imanol; Otaola, Erlantz; Culla, David; Iglesias, Inaki; Lasa, Joseba; Sierra, Basilio; INNOV_AIR_MOBIL; Tecnalia Research & Innovation; MAQUINASWe present a novel overactuated aerial vehicle based on four quadrotors connected to an airframe by means of passive universal joints. The proposed architecture allows to independently control the six degrees of freedom of the airframe without having fixed propellers at inefficient configurations or making use of dedicated rotor tilting actuators. After deriving the dynamic equations that describe its motion, we propose a linear control strategy that is able to successfully decouple rotation and translation, relying exclusively on on-board sensors. A prototype is built and preliminary experimental results demonstrate that the concept is feasible.Video: https://youtu.be/9ASP3FyhCJw.Item Test bench for helicopter electro mechanical actuation system validation: Design and validation of dedicated test bench for aeronautical electromechanical actuators(Institute of Electrical and Electronics Engineers Inc., 2015-06-16) Echevarria, Imanol; Lasa, Joseba; Casado, Pablo; Dominguez, Alberto; Eguizabal, Inigo; Lizeaga, Mikel; Perez, Raul; Berenguer, Oscar; INNOV_AIR_MOBIL; ROBOTICA_AUTOMA; Tecnalia Research & Innovation; MAQUINAS; TECNOLOGÍAS DE HIDRÓGENOThe introduction of a new product in the aeronautical sector implies conducting characterization tests in an automated, safe and sustainable way. This paper describes a dedicated test bench design and validation that allows characterizing a swashplate Helicopter Electro Mechanical Actuation System (HEMAS). The test bench replicates the operating conditions that the actuator will encounter in service simulating the aerodynamic force by a hydraulic counter load system. The results obtained in validation tests show the ability of the test bench to replicate specified test cases. The validation was performed using a hydraulic cylinder to replicate the motion profile that will be followed by the actuator. The test campaign with the actuator will be performed during 2015.