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⛄ 内容介绍
We present the development process behind AtlantikSolar, a small 6.9 kg hand-launchable lowaltitude solar-powered unmanned aerial vehicle (UAV) that recently completed an 81-hour continuous flight and thereby established a new flight endurance world record for all aircraft below 50 kg mass. The goal of our work is to increase the usability of such solar-powered robotic aircraft bymaximizing their perpetual flight robustness to meteorological deteriorations such as clouds or winds. We present energetic system models and a design methodology, implement them in our publicly available conceptual design framework for perpetual flight-capable solar-powered UAVs, and finally apply the framework to the AtlantikSolar UAV. We present the detailed AtlantikSolar characteristics as a practical design example. Airframe, avionics, hardware, state estimation, and control method development for autonomous flight operations are described. Flight data are used to validate the conceptual design framework. Flight results from the continuous 81-hour and 2,338 km covered ground distance flight show that AtlantikSolar achieves 39% minimum state-ofcharge, 6.8 h excess time and 6.2 h charge margin. These performance metrics are a significant improvement over previous solar-powered UAVs. A performance outlook shows that AtlantikSolar allows perpetual flight in a 6-month window around June 21 at mid-European latitudes, and that multi-day flights with small optical-or infrared-camera payloads are possible for the first time. The demonstrated performance represents the current state-of-the-art in solar-powered low-altitude perpetual flight performance. We conclude with lessons learned from the three-year AtlantikSolar UAV development process and with a sensitivity analysis that identifies the most promising technological areas for future solar-powered UAV performance improvements.
⛄ 部分代码
% *************************************************************************
% AirplaneDesign.m: Solar-powered UAV Conceptual Design
% *************************************************************************
% Descr.: Use this file to perform the conceptual design of your solar-
% powered UAV, i.e. analyse its performance (in the form of excess time,
% charge margin, endurance and minimum battery state-of-charge) as a
% function of its design variables (wing span b, aspect ratio AR, battery
% mass m_bat). One can also design configurations considering different
% atmospheric clearness (e.g. clouds) and turbulence (e.g. wind) values.
% Initialize
clear variables;
close all;
clc;
addpath(genpath('matlab_functions'))
% -------------------------------------------------------------------------
% STEP 1: DESIGN SETUP
% -------------------------------------------------------------------------
% Set the three variables to choose as design variables here. Choices are the
% labels defined in the file VAR.m (i.e. VAR.WING_SPAN, VAR.BATTERY_MASS,
% VAR.ASPECT_RATIO, VAR.CLEARNESS and VAR.TURBULENCE, VAR.DAY_OF_YEAR, VAR.LATITUDE).
%
% There is basically two design ways:
% 1. Specify wing span, battery mass and aspect ratio ranges to design your
% airplane first
% 2. Then (optionally) choose the optimal wing span and aspect ratio from the
% first step, and set 'VAR.BATTERY_MASS','VAR.CLEARNESS' and 'VAR.TURBULENCE'
% to optimize the partially-fixed configuration in more detail over the
% remaining variables.
%
% Example:
% vars(1)= VAR.WING_SPAN;
% vars(1).values = 3:1:5; %Analyse over wing spans from 3 to 5m in 1m steps
%Plot1
vars(1) = VAR.WING_SPAN;
vars(1).values = 3.5:1.0:6.5;
vars(2) = VAR.BATTERY_MASS;
vars(2).values = 2.5:1.0:6.5;
vars(3) = VAR.ASPECT_RATIO;
vars(3).values = 18.5;
% Plot3
% vars(1) = VAR.CLEARNESS; %VAR.BATTERY_MASS;
% vars(1).values = 0.4:0.2:1;
% vars(2) = VAR.TURBULENCE; %VAR.WING_SPAN;
% vars(2).values = 0.0:0.2:0.6; %5.4:0.1:5.8;
% vars(3) = VAR.DAY_OF_YEAR;
% vars(3).values = [floor(3*30.5+21), floor(5*30.5+21)];
% Plot2
% vars(1) = VAR.DAY_OF_YEAR; %VAR.BATTERY_MASS;
% vars(1).values = [5*365/12+21 5*365/12+30 6*365/12+15];%floor(0*30.5):5:floor(11*30.5+29);
% vars(2) = VAR.LATITUDE;
% vars(2).values = 47.6;%0:2.5:70;
% vars(3) = VAR.ASPECT_RATIO;
% vars(3).values = 18.5;
% Airplane general technological parameters first
initParameters;
params.structure.corr_fact = 1.21; % Structural mass correction factor. Set to
% * 1.0 to use the original model without correction.
% * 1.21 to correspond to AtlantikSolar initial structural mass calculation by D. Siebenmann
% This is the default configuration for our design variables!
% (which is only used if we don't design over b, m_bat or AR)
plane.struct.b = 5.6;
plane.struct.AR = 18.5;
plane.bat.m = 2.9;
%This is the other plane-specific data.
plane.avionics.power = 6.0;
plane.avionics.mass = 1.20;
plane.payload.power = 0;
plane.payload.mass = 0.0;
plane.prop.P_prop_max = 180.0;
% Set environment
environment.dayofyear = 5*30.5+21;
environment.lat = 47.6; % 1: Barcelona 2:Tuggen/CH
environment.lon = 8.53;
environment.h_0 = 416+120; % with 120m AGL flight altitude for enough safety
environment.h_max = 700; % Barcelona: 4000ft
environment.T_ground = 25+273.15;
environment.turbulence = 0;
environment.turbulence_day = 0.0; % Relative increase of power consumption during the day, e.g. due to thermals
environment.clearness = 1.0;
environment.albedo = 0.12;
environment.add_solar_timeshift = -3600; % [s], due to Daylight Saving Time (DST), actually used for solar income calculations
environment.plot_solar_timeshift = -1.533; % [h], just used for plotting results (to plot them in solar time), does not affect anything else
%Evaluation settings
settings.DEBUG = 0; % Force DEBUG mode
settings.dt = 100; % Discretization time interval [s]
settings.climbAllowed = 0;
settings.SimType = 0; % 0 = Start on t_eq, 1 = start on specified Initial Conditions
settings.SimTimeDays = 2; % Simulation Time in days (e.g. 1 = std. 24h simulation)
settings.InitCond.SoC = 0.46; % State-of-charge [-]
settings.InitCond.t = 4.0*3600 + 32*60; % [s]launch time
settings.evaluation.findalt = 0; % if 1, it finds the maximum altitude for eternal flight
%settings.optGRcruise = 0; % 1 to allow cruise at optimal glide ratio & speed when max altitude reached
settings.useAOI = 0; % 1 to enable the use of angle-of-incidence dependent solar module efficiency
settings.useDirDiffRad = 0; % 1 to enable the use of separate diffuse and direct radiation solar module efficiencies
% -------------------------------------------------------------------------
% STEP 2: Calculate performance results
% -------------------------------------------------------------------------
% Number of configurations calculated
N = numel(vars(1).values) * numel(vars(2).values) * numel(vars(3).values);
disp(['Number of configurations to be calculated: ' num2str(N)]);
h=waitbar(0,'Progress');
% Calculate performance results
str='';
ctr = 0;
for i = 1:numel(vars(3).values)
for k = 1:numel(vars(2).values)
for j = 1:numel(vars(1).values)
ctr = ctr+1;
varval(3)=vars(3).values(i);
varval(2)=vars(2).values(k);
varval(1)=vars(1).values(j);
%Assign variables dynamically
idx = find(vars == VAR.WING_SPAN,1,'first');
if ~isempty(idx) ; plane.struct.b = varval(idx); end
idx = find(vars == VAR.BATTERY_MASS,1,'first');
if ~isempty(idx) ; plane.bat.m = varval(idx); end
idx = find(vars == VAR.ASPECT_RATIO,1,'first');
if ~isempty(idx) ; plane.struct.AR = varval(idx); end
idx = find(vars == VAR.CLEARNESS,1,'first');
if ~isempty(idx) ; environment.clearness = varval(idx); end
idx = find(vars == VAR.TURBULENCE,1,'first');
if ~isempty(idx) ; environment.turbulence = varval(idx); end
idx = find(vars == VAR.DAY_OF_YEAR,1,'first');
if ~isempty(idx) ; environment.dayofyear = varval(idx); end
idx = find(vars == VAR.LATITUDE,1,'first');
if ~isempty(idx) ; environment.lat = varval(idx); end
[PerfResults(i,k,j),DesignResults(i,k,j),flightdata(i,k,j)] = ...
evaluateSolution(plane,environment,params,settings);
if(abs(environment.plot_solar_timeshift) > 0.01)
PerfResults(i,k,j).t_eq2 = PerfResults(i,k,j).t_eq2 + environment.plot_solar_timeshift * 3600;
PerfResults(i,k,j).t_fullcharge = PerfResults(i,k,j).t_fullcharge + environment.plot_solar_timeshift * 3600;
PerfResults(i,k,j).t_sunrise = PerfResults(i,k,j).t_sunrise + environment.plot_solar_timeshift * 3600;
PerfResults(i,k,j).t_max = PerfResults(i,k,j).t_max + environment.plot_solar_timeshift * 3600;
PerfResults(i,k,j).t_sunset = PerfResults(i,k,j).t_sunset + environment.plot_solar_timeshift * 3600;
PerfResults(i,k,j).t_eq = PerfResults(i,k,j).t_eq + environment.plot_solar_timeshift * 3600;
end
str = [str sprintf('#%d| Set: b:%g m_bat:%g AR:%g DoY=%g,Lat=%g,CLR=%g,Turb=%g Res:Soc_min=%.2f%%,T_exc=%.2fh,T_cm=%.2fh,T_end=%.2fh CharTimes:t_sr=%.2fh t_eq1=%.2fh t_fc=%.2fh t_fc90=NA t_eq2=%.2fh t_ss=%.2fh m=%.2f P=%.2f\n',ctr,...
flightdata(i,k,j).b,flightdata(i,k,j).m_bat,flightdata(i,k,j).AR,...
environment.dayofyear,environment.lat,environment.clearness,environment.turbulence,...
PerfResults(i,k,j).min_SoC*100,PerfResults(i,k,j).t_excess,PerfResults(i,k,j).t_chargemargin,PerfResults(i,k,j).t_endurance,...
PerfResults(i,k,j).t_sunrise/3600,PerfResults(i,k,j).t_eq/3600,PerfResults(i,k,j).t_fullcharge/3600, PerfResults(i,k,j).t_eq2/3600, PerfResults(i,k,j).t_sunset/3600,...
DesignResults(i,k,j).m_no_bat+DesignResults(i,k,j).m_bat,PerfResults(i,k,j).P_elec_level_tot_nom)];
completedRatio = ((i-1)*numel(vars(2).values)*numel(vars(1).values) + (k-1)*numel(vars(1).values) + j)/N;
waitbar(completedRatio,h,[num2str(completedRatio*100.0,'Progress: %.0f\n') '%']);
end
end
end
close(h)
display('*** Performance solutions ***');
display(str);
% -------------------------------------------------------------------------
% STEP 3: Plotting
% -------------------------------------------------------------------------
% Note: Plotting scripts are located in the matlab_functions/PlotScripts
% folder. Please modify and call these scripts if you want to modify the
% plots
Plot_AirplaneDesign_Standard(PerfResults, DesignResults, environment, plane, params, flightdata, vars);
%Plot_AirplaneDesign_ASFinalPaper_PlotOrderChanged(PerfResults, DesignResults, environment, plane, params, flightdata, vars);
if(numel(vars(1).values)*numel(vars(2).values)*numel(vars(3).values)==1)
Plot_BasicSimulationTimePlot(flightdata,environment,params, plane)
end
⛄ 运行结果
⛄ 参考文献
- Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Thomas Stastny, Bartosz Wawrzacz, Timo Hinzmann, Stefan Leutenegger, Kostas Alexis, Roland Siegwart, Design of small hand‐launched solar‐powered UAVs: From concept study to a multi‐day world endurance record flight, Journal of Field Robotics 34 (7), 1352-1377 . http://www.atlantiksolar.ethz.ch/wp-content/downloads/publications/JFR_81hFlight_paper_final.pdf
- Philipp Oettershagen, Amir Melzer, Thomas Mantel, Konrad Rudin, Rainer Lotz, Dieter Siebenmann, Stefan Leutenegger, Kostas Alexis and Roland Siegwart, A Solar-Powered Hand-Launchable UAV for Low-Altitude Multi-Day Continuous Flight, International Conference on Robotics and Automation (ICRA) 2015. http://www.atlantiksolar.ethz.ch/wp-content/downloads/publications/AtlantikSolar_ICRA_2015_vFinal.pdf
- Stefan Leutenegger, Mathieu Jabas, Roland Y. Siegwart, Solar Airplane Conceptual Design and Performance Estimation, Journal of Intelligent & Robotic Systems (2011), Volume 61, Issue 1, pp 545-561.
- A. Noth, Design of solar powered airplanes for continuous flight, PhD thesis, ETH Zurich, 2008. http://www.asl.ethz.ch/research/asl/skysailor/Design_of_Solar_Powered_Airplanes_for_Continuous_Flight
