Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings
| Autor: | Jeremy J. Dawkins, Levi DeVries |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Airfoil
0209 industrial biotechnology micro aerial vehicles Computer science dynamic modeling and control of quadrotor lcsh:Motor vehicles. Aeronautics. Astronautics Aerospace Engineering 02 engineering and technology Aerodynamics Aspect ratio (image) Trim Computer Science Applications vertical takeoff and landing Lift (force) 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Control theory Range (aeronautics) 0202 electrical engineering electronic engineering information engineering Trajectory transitioning flight 020201 artificial intelligence & image processing lcsh:TL1-4050 Information Systems |
| Zdroj: | Drones, Vol 2, Iss 2, p 21 (2018) Drones Volume 2 Issue 2 |
| Popis: | This paper presents the modeling, control design, and efficiency analysis of a micro-quadrotor aerial vehicle with airfoils. We derive the equations of motion for a micro-quadrotor (length 0.15 m and mass 0.03 kg) outfitted with two symmetric airfoils that generate lift during forward transit. A trim analysis is presented to determine nominal flight conditions. Analysis of the model facilitates design of a controller that stabilizes the modified quadrotor through transitions from hover to forward fixed-wing flight. The performance of the design and control approach is analyzed through a series of typical flight profile simulations. The controller is able to track a velocity trajectory in the presence of aerodynamic uncertainties. The simulations are also used to determine the efficiency of the aircraft compared to a standard quadrotor. Results suggest that, during forward flight, the airfoils result in up to a 35% energy savings depending on the aspect ratio and forward speed of the vehicle. Added airfoil weight, however, causes a 45% energy loss during hover. These results indicate that the neutral benefit speed is in the range 3&ndash 5 m/s depending on the aspect ratio of the airfoil, which is suggestive of mission flight profiles that best utilize the added benefit of airfoils on a micro-quadrotor. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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