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Arrival Management for Evtol Aircraft in On-Demand Urban Air Mobility" (2019)

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Arrival Management for Evtol Aircraft in On-Demand Urban Air Mobility Iowa State University Capstones, Theses and Graduate Theses and Dissertations Dissertations 2019 Arrival management for eVTOL aircraft in on- demand urban air mobility Priyank Pradeep Iowa State University Follow this and additional works at: https://lib.dr.iastate.edu/etd Part of the Aerospace Engineering Commons Recommended Citation Pradeep, Priyank, "Arrival management for eVTOL aircraft in on-demand urban air mobility" (2019). Graduate Theses and Dissertations. 17076. https://lib.dr.iastate.edu/etd/17076 This Dissertation is brought to you for free and open access by the Iowa State University Capstones, Theses and Dissertations at Iowa State University Digital Repository. It has been accepted for inclusion in Graduate Theses and Dissertations by an authorized administrator of Iowa State University Digital Repository. For more information, please contact [email protected]. Arrival management for eVTOL aircraft in on-demand urban air mobility by Priyank Pradeep A dissertation submitted to the graduate faculty in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY Major: Aerospace Engineering Program of Study Committee: Peng Wei, Major Professor A Ram (Bella) Kim Benjamin Ahn Leifur Thor Leifsson Lizhi Wang The student author, whose presentation of the scholarship herein was approved by the program of study committee, is solely responsible for the content of this dissertation. The Graduate College will ensure this dissertation is globally accessible and will not permit alterations after a degree is conferred. Iowa State University Ames, Iowa 2019 ii DEDICATION To the Almighty God, Guru, Family and Advisor! iii TABLE OF CONTENTS Page LIST OF TABLES . vi LIST OF FIGURES . vii ACKNOWLEDGEMENTS . ix ABSTRACT . .x CHAPTER 1. OVERVIEW . .1 1.1 Introduction . .1 1.2 Background and Literature Review . .2 1.3 Motivation . .4 1.3.1 Generate Energy Efficient Trajectory with RTA constraint . .4 1.3.2 Arrival Sequencing and Scheduling of eVTOLs . .5 1.4 Research Objectives . .7 1.5 Research Contributions . .8 1.6 Organization of the Dissertation . .8 CHAPTER 2. ENERGY EFFICIENT ARRIVAL OF MULTIROTOR EVTOL . 10 2.1 Introduction . 10 2.2 Multiphase Optimal Problem Formulation . 10 2.2.1 eVTOL Aircraft Model . 10 2.2.2 Trajectory Optimization . 10 2.2.3 Flight Dynamics Model . 12 2.2.4 Drag Model . 13 2.2.5 Momentum Theory in Hover . 14 2.2.6 Momentum Theory in Forward Flight . 15 2.2.7 Coaxial Rotor Interference in Forward Flight . 15 2.2.8 Power Required by the eVTOL Aircraft . 16 2.2.9 Performance Index of Multiphase Optimal Control . 17 2.2.10 Path Constraints . 18 2.2.11 Fixed Final Time . 19 2.3 Numerical Study . 20 2.3.1 CONOP 1: Delay Absorption in Descent Phase (Variable TOD Position) . 25 2.3.2 CONOP 2: Delay Absorption in Descent Phase (Fixed TOD Position) . 30 2.3.3 CONOP 3: Delay Absorption in Cruise Phase by Cruise Speed Control . 32 2.3.4 CONOP 4: Delay Absorption in Hover at Cruise Altitude . 33 iv 2.3.5 CONOP 5: Delay Absorption Using the Combination of Cruise and Descent Speed Control . 34 2.3.6 Comparison of Total Energy Consumptions . 36 2.4 Conclusion . 38 CHAPTER 3. ENERGY EFFICIENT ARRIVAL OF TANDEM TILT-WING EVTOL . 39 3.1 Introduction . 39 3.2 Multiphase Optimal Control Problem Formulation . 39 3.2.1 eVTOL Aircraft Model . 39 3.2.2 Trajectory Optimization . 41 3.2.3 Cruise Flight Dynamics . 42 3.2.4 Path Constraints in Cruise Phase . 44 3.2.5 Drag Model in Cruise . 44 3.2.6 Power Consumption Model in Cruise . 45 3.2.7 Transition Flight Dynamics . 45 3.2.8 Path Constraints in Transition Phase . 46 3.2.9 Drag Model in Transition Phase . 46 3.2.10 Power Consumption in Transition Phase . 46 3.2.11 Vertical Descent Flight Dynamics . 47 3.2.12 Path Constraint in Descent . 48 3.2.13 Drag Model in Descent . 48 3.2.14 Power Consumption in Descent . 48 3.2.15 Phase link . 49 3.2.16 Performance Index . 49 3.3 Numerical Study . 50 3.3.1 Results of Minimum Energy Trajectory for Various Constant Cruise Speed Missions with RTA Constraint (1500 Sec) . 51 3.4 Conclusion . 53 CHAPTER 4. VALIDATION OF MULTIPHASE OPTIMAL CONTROL MODEL . 54 4.1 Introduction . 54 4.2 Validation Using Numerical Method . 54 4.2.1 DJI Phantom 4.0 . 54 4.2.2 Results of Minimum Energy Profiles for Various Constant Cruise Ground Speed Missions . 55 4.2.3 Minimum Energy Speed . 57 4.3 Conclusion . 58 CHAPTER 5. ARRIVAL SEQUENCING AND SCHEDULING OF MIXED FLEET OF EVTOLS IN UAM . 59 5.1 Introduction . 59 5.2 Problem Statements for Emergent and Early Expanded UAM Operations . 59 5.2.1 CONOPs for eVTOL Aircraft Arrival in Emergent UAM Operations . 59 5.2.2 CONOPs for eVTOL Aircraft Arrival in Early Expanded UAM Operations . 61 5.2.3 Objective of the Arrival Sequencing and Scheduling Problem . 65 5.2.4 Window Constraints on Arrival Scheduling . 66 v 5.2.5 Minimum Time Separation in Emergent Operations . 66 5.2.6 Minimum Time Separation in Early Expanded Operations . 67 5.3 Proposed Algorithm . 67 5.3.1 Insertion and Local Search Heuristics . 67 5.3.2 TA Algorithm . 70 5.4 Numerical Simulations and Results . 71 5.4.1 Numerical Simulations for Emergent Operations . 71 5.4.2 Numerical Simulations for Early Expanded Operations . 72 5.4.3 Results of Emergent Operations . 73 5.4.4 Results of Early Expanded Operations . 78 5.4.5 Sensitivity Analysis . 80 5.5 Conclusion . 84 CHAPTER 6. CONCLUSIONS AND FUTURE WORK . 86 6.1 Contributions . 86 6.2 Future Research . 88 BIBLIOGRAPHY . 90 APPENDIX. LATERAL TRAJECTORY OPTIMIZATION OF MULTIROTOR UAVs . 99 vi LIST OF TABLES Page Table 2.1 Performance Data of EHang 184 . 14 Table 2.2 Delay Absorption Strategies (CONOPs) . 24 Table 2.3 Initial and Final Conditions for Arrival of Multirotor eVTOL . 24 Table 2.4 Lower and Upper Bounds on Control Variables (Fixed Pitch) . 25 Table 2.5 Lower and Upper Bounds on Control Variables (Collective Pitch) . 27 Table 3.1 Performance Data of Airbus Vahana [Airbus-A3 (2018)] . 41 Table 3.2 Initial and Final Conditions in Cruise . 50 Table 3.3 Initial and Final Conditions in Transition . 50 Table 3.4 Initial and Final Conditions in Descent . 51 Table 4.1 Initial and Final Conditions for Validation . 55 Table 4.2 Performance Data of DJI Phantom 4.0 . 55 Table 4.3 Minimum Energy Cruise Ground Speed Vs. Range . 56 Table 5.1 Topology of Landing Pad(s) on a Vertiport . 64 Table 5.2 Minimum Time Separations (Sec) at the MF1 . 67 Table 5.3 Performance Data of eVTOL Aircraft . 71 Table 5.4 Case Study I: Simulation of eVTOLs and Results of ILS-MILP and ILS-TA Methods . 75 Table 5.5 Case Study II: Simulation of eVTOLs and Results.
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