Desenvolvimento de um sistema de simulação e comparação da resposta dinâmica em solo via Matlab de um Vant de asa fixa em voo subsônico a partir de dados coletados por um sistema embarcado

Abstract

In the present work, software algorithms were developed, associated with embedded hardware, and in Matlab with the objective of carrying out the simulation and comparative analysis of the dynamic response of an unmanned aerial vehicle based on the data acquired by the aircraft's embedded system. For this, an embedded system was used, on an aircraft in flight,which performs data acquisition, recording and transmission in real time to hardware connected to a computer on the ground. The data received by the computer is used to simulate the responses of transfer functions developed in Matlab based on linearized mathematical modeling that describes the dynamic behavior of an aircraft in straight, level flight. The complete modeling presents six degrees of freedom and describes a non-linear dynamic behavior, however, based on simplifications and assumptions that aim to reduce the computational cost and enable functional visibility, the model becomes linear and decoupled, allowing a simulation of movements longitudinal and lateral-directional of the aircraft separately. The inputs to the transfer functions consist only of the commands sent by the pilot, therefore external disturbances, such as wind gusts, are disregarded. The outputs of the transfer functions consist of the orientation of the aircraft around the x, y and z body axes, represented by the attitude, pitch and yaw angles. These same angles are acquired during the flight by an onboard inertial measurement unit, enabling a comparison between the outputs of the transfer functions and the acquired data. The results obtained were in line with the objective of developing the simulation and comparison system, however, an aircraft different from that modeled was used to carry out the flight tests. To compare the acquired and simulated data, a statistical analysis was carried out, which was only possible for the longitudinal movement, as the latero-directional transfer functions were unstable, which made the analysis unfeasible. It was visually verified that few flight stages showed similarities between the acquired and simulated data. In the statistical analysis, it was concluded that the modeling was not suitable for simulating all flight stages, which should be expected due to the conditions and assumptions related to straight and level flight that are applied during modeling. Finally, it became clear that it is necessary to limit the actual flight test condition by an indication via firmware associated with instructions given to the pilot to execute this condition.