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Proceedings ArticleDOI

Experimental Analysis and Affirmation of Vital Parameters of Multi-Rotors Drones

TL;DR: In this article, the authors presented a less complex and simplistic way to do all the calculations of all vital parameters needed for building any drone, and the theoretical validation of the equations which are derived and mentioned in the paper with the practical data obtained from the prototype built.
Abstract: Drone are now commercially used in almost every industry from delivery to defense, general people also make them for hobbies, but due to lack of clear open source information, new enthusiast and even the existing one find it very difficult to build it on their own without any professional help. This paper presents a less complex and simplistic way to do all the calculations of all vital parameters needed for building any drone. This paper presents the theoretical validation of the equations which are derived and mentioned in the paper with the practical data obtained from the prototype built. The analysis of each parameter is done very precisely to make the mistakes as low as possible. All the equations which are mentioned have some assumptions and use of standard values, which is clearly mentioned with the work. The prototype built is an autonomous system containing six rotors and communication modules for sending data on the ground. The conclusion of the paper shows the difference in the accuracy between theoretical values calculated from the derived equations and what practical testing gives.
References
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Proceedings ArticleDOI
01 Dec 2017
TL;DR: A Lypunov-based adaptive flight controller capable of robustly stabilizing a multicopter with completely uncertain configurations and dynamics is proposed and experimentally demonstrated that the controller is capable of stabilizing the vehicle with only crude knowledge of its rotor positions, mass distribution, moment of inertia, and aerodynamic coefficients.
Abstract: Thanks to their exceptional flying maneuverability and simple dynamics, multirotor systems have recently been developed and used for various applications. In low-cost prototypes or highly-customized systems; however, the uncertainties in model parameters may adversely affect the flight performance or lead to instability. In this paper, we proposed a Lypunov-based adaptive flight controller capable of robustly stabilizing a multicopter with completely uncertain configurations and dynamics. We experimentally demonstrate that the controller is capable of stabilizing the vehicle with only crude knowledge of its rotor positions, mass distribution, moment of inertia, and aerodynamic coefficients. The results show that the attitude and altitude errors initially caused by the inaccurate system model significantly reduced after the activation of the adaptive scheme in real flights.

3 citations

Proceedings ArticleDOI
01 Nov 2016
TL;DR: In this article, the authors present the application opportunities for a civilian drone and analyze them from the open-pit mine disaster point of view, with particular attention to navigation side, and compare it to a rescue helicopter applied in openpit operations mine.
Abstract: Explosive development of technology and software has enabled the improvements and the spread of civilian uses of drones as well. This area was unknown until 2000, these devices are affordable and available to buy and build for anyone now. Not only hobby pilots, the film industry and commerce benefit from the spread of drones, they can also be used for cartographic and architectural purposes as well as disaster response completing preventive and post tasks. [1]. Among the organizations with public service missions in disaster management there are several possibilities of use, where the task-specific drone fulfils a given specialized task. Besides the customary camera ensuring high-resolution live images, there are also sensors and measurement tools on board. The improvements of these tools has sped up as well. Radiometers were introduced in 2011 for the first time at Fukushima nuclear power plant after the tsunami, but it has been basic sensor in a similar situation since then. [2]. Increasing number of tasks and opportunities and the limited resources urge the manufacturers to spend more time on development of necessary components for the operation (battery, control electronics, materials used) by so doing they may increase their application. In our study we present the application opportunities for a civilian drone. With particular attention to navigation side, we analyze them from the open-pit mine disaster point of view. The aim of our study how the examined and compared parameters such as flight operational time, the distance, the working load can help the prevention of the disaster or speed up the rescue operation. In order to do this, we examine the market leader drone company's newest product. Afterwards, we compare it to a rescue helicopter applied in open-pit operations mine. Our aim is to draw attention of those who work in heavy industry especially those who work in danger to the usefulness of drones helping to secure life.

3 citations

Proceedings ArticleDOI
01 Mar 2019
TL;DR: Load modelling of an UAV at different stages like take-off, level flight and landing at different conditions like constant altitude - variable speed, constant speed - variable altitude, constant altitude and speed; has been derived.
Abstract: The deployment of battery powered Unmanned Aerial Vehicle (UAV) is constrained mainly due to its lack of range per single charge. In this paper, load modelling of an UAV at different stages like take-off, level flight and landing at different conditions like constant altitude - variable speed, constant speed - variable altitude, constant altitude and speed - variable take-off and landing angle; has been derived. Analysis of Thrust and Power requirement of UAV at different stages has been discussed in the paper. This analysis can be used for the selection of components and battery required for the UAV, depending upon the particular application. This can also be used in power estimation and flight planning accordingly.

1 citations

Proceedings ArticleDOI
01 Nov 2019
TL;DR: The results of this work, completely based on real and experimental data, demonstrates that NARX model based on series-parallel architecture is best for the State estimation of quadcopter.
Abstract: Mathematical modeling of systems is crucial to the design and development of linear or non-linear controllers. For this reason, it isoften preferable to obtain mathematical model via system identification techniques. The Quad copter belong to the non-linear class of the system, in which the accurate mathematical model of the system is difficult to obtain. In this paper, three different techniques of system identification have been adopted to mathematically model the Parrot AR. Drone 2.0 quad copter. At first, SISO Continuous-time transfer functions were obtained for lateral, longitudinal and vertical loops independently. Then the parameters for Auto regressive exogenous i.e ARX and nonlinear auto regressive exogenous i.e. NARX models were trained iteratively. The results of this work, completely based on real and experimental data, demonstrates that NARX model based on series-parallel architecture is best for the State estimation of quadcopter. The efficiency of this network in comparison with the other two have been examined using multiple test flights.

1 citations