Contact

Carlo Gerboni

Address: Spemannstr. 38
72076 Tübingen
Room number: 111
Phone: +49 7071 601 609
Fax: +49 7071 601 609
E-Mail: carlo.gerboni

 

Picture of Gerboni, Carlo

Carlo Gerboni

Position: PhD Student  Unit: Bülthoff

I'm a PhD student of the "Cybernetics Approach to Perception and Action research" group.


My research interests are focused on the control theory, especially the nonlinear one. My research project aims to find new solutions for making to fly an aerial vehicle as easy as to drive a car. This would be an important step toward future Personal Aerial Vehicles (PAVs). The reference vehicles of my work are the helicopters since they have some features that future PAVs will require. Rotorcrafts behave in a strongly unstable way and controllers are necessary in order to make these vehicles flyable for common people.

 

I have a B.Sc. in Biomedical Engineering and a M.Sc in Automation and Robotics engineering, both from the University of Pisa (visit the section "Curriculum Vitae"). I started my experience at the MPI doing my master thesis project and then I continued with my Ph.D. My main interest is in the automation field and most specifically in: Lyapunov theory and Lyapunov-based controllers, robust control, control of MIMO systems, mathematical methods for controlling systems, flight mechanics and flight regulation.

Development of a 6 DoF Nonlinear Helicopter Model for the MPI Cybermotion Simulator


Introduction

Studies with simulated rotorcraft dynamics generally make use of simplified linear models to approximate the system response. However, in some instances, such as for system identification or implementation of stability augmentation systems, more complex and realistic helicopter models are preferred.

 

Goals

The goal of this project is to implement a 6 degree-of-freedom (DoF) nonlinear helicopter model which can be used on the CyberMotion Simulator (CMS) to perform realistic flight scenarios and test new control algorithms.

 

Methods

The nonlinear helicopter simulation is implemented using equations found in literature [1]. The contribution of the main rotor, the tail rotor, the empennage and the fuselage are considered separately (Figure 1). A desktop simulator is used for an offline validation. Two different simulators are used to test the model with a helicopter pilot in-the-loop: a fixed-base simulator with a large visual display and a motion simulator. The model was evaluated using the American Design Standard ADS-33E-PRF [2]. The model was validated with time and frequency domain analysis to verify the implemented equations and the tuning of unknown model parameters. Furthermore, the model responses are compared with flight test data of the real helicopter. Finally, a pilot performed several maneuvers to assess the handling qualities of the model in both simulators.

 

Scheme of the model

Figure 1: Scheme of the model

 

Initial results

The results in the time domain show that the model response is very similar to the measurement of the real helicopter [3] (Figure 2a). The frequency domain analysis suggests that the model behaves correctly in a qualitative sense, but that improvements are required to reach full compliance with flight test results (Figure 2b). Preliminary tests with a pilot indicated that the overall performance of the model was good. A comparison of the results obtained with the same maneuver in the fixed-base and motion simulator show that helicopter motion supports the pilot in performing his control task.

 

Figure 2: Time domain validation (a); frequency domain validation (b)

 

Initial conclusions and future works

The model validations show that the implementation of this nonlinear model represents a first step in the direction of replicating a realistic flight experience. Further tests are required for fully validate the model and use it as framework for future works. Futere steps involve the implementation of nonlinear control strategies in order to make to fly easier and accessible for minimal-trainded pilots.

 

References

1. Padfield, G. D., Helicopter Flight Dynamics: the Theory and Application of Flying Qualities and Simulation Modelling, Second Edition, Blackwell Publishing, 2007.

2. Baskett, B. J., Aeronautical Design Standard performance specifications Handling Qualities requirements for military rotorcraft, Tech. rep., DTIC Document, 2000.

3. Gerboni, C. A., Geluardi, S., Olivari, M., Nieuwenhiuzen, F. M., Bülthoff, H. H., and Pollini, L., Development of a 6 DoF Nonlinear Helicopter Model for the MPI Cybermotion Simulator, 40th European Rotorcraft Forum, Southampton, UK, September 2014

I received  the Bachelor’s degree in Biomedical engineering and the Master’s degree in Automation and Robotics engineering from the University of Pisa, Italy, in  February 2011 and May 2014 respectively. My Bachelor’s thesis, developed within a team at the Centro Piaggio Research Center in Pisa, won the Danfoss PolyPower Innovation Contest 2010. My Master’s thesis was performed at the Max Planck Institute for Biological Cybernetics in Tuebingen, Germany, and presented at the European Rotorcraft Forum (ERF) 2014. Since September 2014 I am a Ph.D. student at the Planck Institute for Biological Cybernetics.

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Show abstracts

Articles (1):

Carpi F, Frediani G, Gerboni C, Gemignani J and De Rossi D (February-2014) Enabling variable-stiffness hand rehabilitation orthoses with dielectric elastomer transducers Medical Engineering & Physics 36(2) 205–211.

Conference papers (8):

Bufalo F, Olivari M, Geluardi S, Gerboni CA, Pollini L and Bülthoff HH (October-2017) Variable Force-Stiffness Haptic Feedback for Learning a Disturbance Rejection Task, IEEE International Conference on Systems, Man, and Cybernetics (SMC 2017), 1517-1522.
Fabbroni D, Geluardi S, Gerboni CA, Olivari M, Pollini L and Bülthoff HH (September-2017) Quasi-Transfer-of-Training of Helicopter Trainer from Fixed-Base to Motion-Base Simulator, 43rd European Rotorcraft Forum (ERF 2017), -. accepted
Fabbroni D, Geluardi S, Gerboni CA, Olivari M, D'Intino G, Pollini L and Bülthoff HH (May-2017) Design of a Haptic Helicopter Trainer for Inexperienced Pilots In: The Future of Vertical Flight, , 73rd American Helicopter Society International Annual Forum (AHS 2017), Curran, Red Hook, NY, USA, 2097-2108.
Gerboni CA, Geluardi S, Fichter W and Bülthoff HH (May-2017) Investigation and Evaluation of Control Design Requirements for Future Personal Aerial Vehicles In: The Future of Vertical Flight, , 73rd American Helicopter Society International Annual Forum (AHS 2017), Curran, Red Hook, NY, USA, 1483-1494.
Gerboni CA, Geluardi S, Venrooij J, Joos A, Fichter W and Bülthoff HH (January-2017) Development of model-following control laws for helicopters to achieve personal aerial vehicle's handling qualities, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2017, Curran, Red Hook, NY, USA, 484-499.
Gerboni CA, Venrooij J, Nieuwenhuizen FM, Joos A, Fichter W and Bülthoff HH (January-2016) Control Augmentation Strategies for Helicopters used as Personal Aerial Vehicles in Low-speed Regime, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2016, Curran, Red Hook, NY, USA, 1002-1012.
Gerboni CA, Nieuwenhuizen FM and Bülthoff HH (January-2016) Implementation and Validation of a 6 Degrees-of-Freedom Nonlinear Helicopter Model, AIAA Modeling and Simulation Technologies Conference: Held at the AIAA SciTech Forum 2016, Curran, Red Hook, NY, USA, 1027-1040.
Gerboni CA, Geluardi S, Olivari M, Nieuwenhuizen FM, Bülthoff HH and Pollini L (July-2015) Development of a 6 dof nonlinear helicopter model for the MPI Cybermotion Simulator, 40th European Rotorcraft Forum (ERF 2014), Curran, Red Hook, NY, USA, 615-626.
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Posters (1):

Carpi F, Frediani G, Gerboni CA, Gemignani J and De Rossi D (June-2011): Towards variable‐stifness dynamic hand splints based on dielecric elastomer transducers, First International Conference on Electromechanically Active Polymer Transducers & Artificial Muscles (EuroEAP 2011), Pisa, Italy.
pdf

Theses (1):

Gerboni CA: Development of a 6 dof nonlinear helicopter model for the MPI Cybermotion Simulator, Università di Pisa, Italy, (2014). Master thesis

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Last updated: Monday, 22.05.2017