Alejandro Jiménez Flores

En los últimos años, la impresión 3D se ha popularizado para crear componentes estructurales de polímero, como los frames de los cuadrirrotores. Por otro lado, el modelado matemático de vehículos aéreos no tripulados mediante algoritmos inteligentes también ha sido objeto de estudio. Sin embargo, se han realizado pocas contribuciones con datos experimentales para validar la estructura, el modelo matemático y los parámetros de un cuadrirrotor impreso en 3D. Por lo tanto, el objetivo de este trabajo es presentar una metodología para validar experimentalmente la estructura del frame de un cuadrirrotor impreso en 3D, su modelo matemático y sus parámetros mediante redes neuronales. Los resultados muestran un desempeño adecuado del cuadrirrotor en condiciones de vuelo.

Este trabajo presenta el diseño, fabricación y validación de un banco de pruebas de bajo costo para la medición de fuerzas y momentos en los seis grados de libertad (6 DoF) de un vehículo aéreo no tripulado (UAV). El sistema integra un arreglo de celdas de carga configuradas estratégicamente y un modelo matemático que relaciona las señales medidas con las cargas aplicadas respecto al centro de gravedad del vehículo. El diseño estructural se desarrolló mediante CAD y se evaluó mediante análisis numérico, considerando componentes fabricados en PLA y aleación de aluminio 6061. Los resultados experimentales muestran buena concordancia con sensores comerciales, demostrando la viabilidad de una solución precisa y económica para investigación en UAVs.

The translational and rotational dynamics of quadrotor UAVs are commonly described by mathematical modeling where aerodynamic and inertial parameters are involved. Therefore, the importance of having accurate parameters in the model is critical for the correct performance of the UAV. In this paper, Artificial Neural Networks (ANNs) are used to estimate the aerodynamic and inertial parameters corresponding to the mathematical model of a quadrotor. Thrust and torque coefficients from the rotor models and the quadrotor inertia matrix are estimated by proposing and training two different ANN models implementing the back-propagation algorithm, using both experimental and simulation data. The estimated parameters are then compared with the reference parameters by means of quadrotor attitude simulations, showing high accuracy in their behavior. The results have shown that the proposed ANN models can accurately estimate both the aerodynamic and inertial parameters of a quadrotor UAV model using both experimental and simulation data, thus contributing to increasing the tools available for parameter estimation.

In this research work, the design of a PID flight controller with the rules of an expert system was applied to the navigation of an octocopter UAV. The Newton-Euler mathematical formulation is used to calculate the dynamic model of the octocopter UAV. The proposed set of decision rules for the Expert PID flight controller design allows the moment controllers to increase their response capability versus error variations. The simulation results of the navigation algorithm implemented in the octocopter UAV demonstrate that the translation Expert PID controller in interconnection with the attitude Expert PID controller can track a helical trajectory, fulfilling the objective of

Quadrotor VAVs have mass variations in their performance and cost, or these are made of materials such as carbon fiber, which implies a higher manufacturing cost. Therefore, an alternative is to resort to manufacturing parts using 3D printing to reduce the mass and improve strength of materials. This work focuses on the structural analysis of a quadrotor UAV previously manufactured using 3D printing technology with polylactic acid (PLA) filament as an alternative to higher cost materials. Buckling problems are presented in the original design of the frame, so its design is reinforced by considerably increasing the mass. The main objective is to reduce the mass without compromising the structural integrity. Experimental tensile tests are performed on PLA specimens to determine their mechanical properties, as well as rotor thrust tests to evaluate the maximum loads on the frame. Three frame alternatives are proposed and designed, with the second proposal being the most successful, with a 41% reduction in mass. The structural simulation shows that this proposal complies with the structural limits of the aircraft, highlighting the feasibility of using PLA and optimizing designs using the finite element technique to reduce mass without compromising strength, representing an economical and efficient option in terms of aeronautical engineering.