Wing in ground effect vehicle: Modelling and control

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2015

Öğrenci: ABDUL GHAFOOR

Danışman: MEHMET KEMAL LEBLEBİCİOĞLU

Özet:

The “Ground Effect” is the increase in the force which is acting on a lifting surface like wing, when it come to the close proximity of the ground. Ground effect vehicles (GEV) are the kind of amphibious vehicles that fly in close proximity of ground, making use of the aerodynamic interaction between the wings of the ground effect vehicle and ground (Sea or Earth surface) and it increases their efficiency 3-4 times more. There are many other advantages of the vehicles employing GE; they do not require a take-off/landing place, they can land anywhere in case of malfunctioning, they can be constructed in a variety of sizes for both military and civil purposes. This study includes a detailed study of Ground Effect (GE), its implementation using Wing in Ground (WIG) effect vehicle or Ground Effect Vehicle (GEV). Next, this thesis report includes its mathematical model explaining GE, motion, translational and rotational dynamics and kinematics, aerodynamics, gravity, atmospheric, mass inertia, forces and moments. Nonlinear 6DOF dynamical model is implemented in Matlab/Simulink and its response is investigated in open loop simulations. Next step is to develop and implement its autopilot. Autopilot consists of a controller and a guidance unit, to get a vehicle to a destination by following a desired trajectory. For the controller, PID controllers from classical feedback theory are used for controlling pitch, yaw, roll, altitude and speed. Their performances are compared based on simulation studies. Final part is the guidance, which is done for the yaw plane (Heading) using Line Of Sight (LOS) method, through Way Points (WPs). Major challenges during this work are the lack of available technical data and the need for multidisciplinary skills like aerodynamics, mathematical modeling and finding suitable controller design techniques.