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Verkehrsunfälle unter Beteiligung von Fahrzeugen mit alternativen Kraftstoffen wie LPG („Autogas“, Liquefied Petroleum Gas), CNG (Compressed Natural Gas, komprimiertes Erdgas) oder CGH2 (Compressed Gas Hydrogen, komprimierter Wasserstoff), bergen neue, komplexe Risiken für Passagiere, Einsatzkräfte und deren Umfeld. Im Rahmen des Projektes „CoFi-ABV“ beschäftigt sich die Bundesanstalt für Materialforschung und -prüfung (BAM) unter Berücksichtigung komplexer Brand- und Explosionsszenarien mit einer ganzheitlichen Betrachtung der Auswirkungen des unfallbedingten Versagens von Gasbehältern für alternative Kraftstoffe. Ein wichtiger Teil des Forschungsvorhabens umfasst Entwicklung, Aufbau und Validierung einer unbemannten Flugplattform (Unmanned Aerial Vehicle, UAV) zur Ferndetektion von Gaswolken. Für das sogenannte gassensitive Mini-UAV wird ein robuster Open-Path-Gasdetektor auf einer Sensorbewegungsplattform in Form eines modifizierten Kamera-Gimbals, integriert. Ziel ist es, ein leistungsfähiges und robustes Werkzeug zu entwickeln, welches Einsatzkräften im Falle eines Unfalls als Hilfe zur Abschätzung der Gefahr durch Gaswolken, ihrer Ausbreitung und der notwendigen Absperrbereiche zur Verfügung steht. Dieser Artikel ist der zweite der Reihe und legt, nach Projektvorstellung im ersten Teil, nun den Schwerpunkt auf das gassensitive Mini-UAV.
A permanent-magnet synchronous motor (PMSM) servo drive for lightweight robotic platforms that have a high torque demand at low rotational speeds has been developed. First, a current-independent torque controller is derived and cascaded with a speed and position controller, while merely an encoder is used as a sensor device in combination with a speed estimator. Finally, the speed estimator output is compared to gyroscope measurements and the overall functioning is verified on a real system.
Cable-suspended parallel manipulators have been a topic of research for multiple decades and called special attention in the fields of simulations. However, they are also well-suited for the simple evaluation of aerial-based mobile robot olfaction (MRO) algorithms, such as gas source localization and gas distribution mapping. Based on an open source framework for 3D printers, we designed a low-cost underconstrained, cable-suspended parallel manipulator. Computations are carried out purely on an Atmel ATmega2560 microcontroller.
Cable-suspended parallel manipulators have been a topic of research for multiple decades and called special attention in the fields of simulations. However, they are also well-suited for the simple evaluation of aerial-based mobile robot olfaction (MRO) algorithms, such as gas source localization and gas distribution mapping. Based on an open source framework for 3D printers, we designed a low-cost underconstrained, cable-suspended parallel manipulator. Computations are carried out purely on an Atmel ATmega2560 microcontroller.
A set of equations is derived to estimate the 3D wind vector with a multirotor aircraft using the aircraft itself as a flying anemometer. Since the thrust component is required to compute the wind vector, the PWM signal controlling the motors of the aircraft is measured and a transfer function describing the relation between the PWM signal and the rotational speed of the motors is derived.
An equation for wind vector estimation using a multirotor aircraft as a flying anemometer is shown. To compute the wind vector an estimate of the thrust of the aircraft is required, which is related to the rotational speed of the rotors. Hence, a sensing system for the rotational speed using phototransistors is presented.
A current-independent torque equation for the permanent-magnet synchronous motor (PMSM) aiming at direct-drive servo applications is derived from a first principles model. Instead of measuring currents, all required control parameters are derived from optical incremental encoder measurements. The results are verified on a real system in test series showing the effect of static friction and proving the obtained torque model.