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dc.rights.licenseAtribución-CompartirIgual 4.0 Internacional
dc.contributor.advisorRamírez Heredia, Ricardo Emiro
dc.contributor.authorQuitian Niño, Luis Carlos
dc.date.accessioned2022-12-05T20:24:50Z
dc.date.available2022-12-05T20:24:50Z
dc.date.issued2022
dc.identifier.urihttps://repositorio.unal.edu.co/handle/unal/82845
dc.descriptionilustraciones, fotografías a color, gráficas
dc.description.abstractUna opción para el control automático de dispositivos mecánicos es obtener los parámetros que conforman la ecuación que describe su movimiento. Es por esto que bajo el planteamiento del modelo dinámico de Newton–Euler aplicado a drones de máximo 25 kg se hace necesario determinar los parámetros inerciales para el sistema completo tales como masa, dimensiones, centro de gravedad y momentos de inercia, además de parámetros de fricción para motores brushless tales como fuerza de empuje, torque de arrastre y velocidad angular. En el presente trabajo se realiza el diseño y construcción de bancos de prueba que permiten la medición de los parámetros del modelo dinámico de drones, partiendo de la identificación del parámetro a medir, ideando mecanismos de medición que sean viables desde el punto de vista constructivo, funcional y económico. Se proyectan los diseños con la premisa de que los ensayos o mediciones sean replicables y ofrezcan resultados confiables con la exactitud requerida para las pruebas con los drones y a un bajo costo de mantenimiento. Adicionalmente, para los bancos de medición de parámetros de fricción se implementa un sistema de adquisición de datos bajo un entorno de trabajo diseñado en AppDesigner de MATLAB, el cual permite de manera semiautomática la determinación de la ecuación de relación entre velocidad angular y empuje y la relación entre velocidad angular y torque de arrastre para motores brushless mediante regresión. (Texto tomado de la fuente)
dc.description.abstractAn option for the automatic control of mechanical devices is to obtain the parameters that make up the equation that describes their movement. This is why, under the approach of the Newton-Euler dynamic model applied to drones of maximum 25 kg, it is necessary to determine the inertial parameters for the complete system such as mass, dimensions, center of gravity and moments of inertia, as well as parameters of friction for brushless motors such as thrust force, drag torque and angular velocity. In the present work, the design and construction of test benches that allow the measurement of the parameters of the dynamic model of drones is carried out, starting from the identification of the parameter to be measured, devising a measurement mechanism that is viable from the constructive, functional and economic point of view. The designs are designed with the premise that the tests or measurements are replicable and offer reliable results with the accuracy required at a low maintenance cost. Additionally, for the friction parameter measurement benches, a data acquisition system is implemented under a work environment designed in MATLAB AppDesigner, which allows semi-automatic determination of the relationship equation between angular velocity vs. thrust and angular velocity vs. drag torque for brushless motors using regression.
dc.format.extentxii, 97 páginas
dc.format.mimetypeapplication/pdf
dc.publisherUniversidad Nacional de Colombia
dc.rights.urihttp://creativecommons.org/licenses/by-sa/4.0/
dc.subject.ddc510 - Matemáticas::519 - Probabilidades y matemáticas aplicadas
dc.subject.ddc530 - Física::537 - Electricidad y electrónica
dc.subject.ddc620 - Ingeniería y operaciones afines::621 - Física aplicada
dc.titleConstrucción de bancos de prueba para la medición experimental de los parámetros del modelo dinámico de Drones - UAS (Unmanned Aerial System)
dc.typeTrabajo de grado - Maestría
dc.type.driverinfo:eu-repo/semantics/masterThesis
dc.type.versioninfo:eu-repo/semantics/acceptedVersion
dc.publisher.programBogotá - Ingeniería - Maestría en Ingeniería - Ingeniería Mecánica
dc.contributor.researchgroupUn-Robot­ Grupo de Plataformas Robóticas
dc.description.degreelevelMaestría
dc.description.degreenameMagíster en Ingeniería Mecánica
dc.description.researchareaAutomatización, Control y Mecatrónica
dc.identifier.instnameUniversidad Nacional de Colombia
dc.identifier.reponameRepositorio Institucional Universidad Nacional de Colombia
dc.identifier.repourlhttps://repositorio.unal.edu.co/
dc.publisher.facultyFacultad de Ingeniería
dc.publisher.placeBogotá, Colombia
dc.publisher.branchUniversidad Nacional de Colombia - Sede Bogotá
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.subject.lembIndustria de instrumentos de medición
dc.subject.lembMeasuring instruments industry
dc.subject.proposalDrones
dc.subject.proposalBancos de prueba
dc.subject.proposalvelocidad angular
dc.subject.proposalfuerza de empuje
dc.subject.proposaltorque de arrastre
dc.subject.proposalmomento de inercia
dc.subject.proposalcentro de gravedad
dc.subject.proposalDrones
dc.subject.proposaltest bench
dc.subject.proposalangular velocity
dc.subject.proposalthrust force
dc.subject.proposaldrag torque
dc.subject.proposalmoment of inertia
dc.subject.proposalcenter of gravity
dc.title.translatedConstruction of test benches for the experimental measurement of the parameters of the dynamic model of Drones - UAS (Unmanned Aerial System)
dc.type.coarhttp://purl.org/coar/resource_type/c_bdcc
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aa
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dc.type.redcolhttp://purl.org/redcol/resource_type/TM
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dc.contributor.orcid0000-0001-6018-1673


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Atribución-CompartirIgual 4.0 InternacionalThis work is licensed under a Creative Commons Reconocimiento-NoComercial 4.0.This document has been deposited by the author (s) under the following certificate of deposit