Identification results of an internal combustion engine as a quadrotor propulsion system
01 Jul 2017-pp 713-718
TL;DR: The static and dynamical characteristic of the propulsion system is presented and its dependence on the fuel-air mixture is discussed, and the static throttle-speed and speed-thrust curves are determined.
Abstract: In this paper we present identification results of an internal combustion engine propulsion system. We aim to use this system in a large quadrotor designed to lift heavy objects with flight autonomy up to 60 minutes. In this paper we describe the testbed which we have built to perform the experiments. We present the static and dynamical characteristic of the propulsion system and discuss its dependence on the fuel-air mixture. In particular, we determine the static throttle-speed and speed-thrust curves. For dynamics analysis, we assume that the rotor dynamics can be represented by a PT 1 term and present its parameters for different engine regimes. Using the overall system transfer function we design a simple PI control of the rotor speed which assures setpoint tracking. Finally, we discuss if the achieved closed loop dynamics is suitable for attitude control of a large quadrotor.
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TL;DR: The text is presented to the reader as a set of modules, this include topics about structural dynamics, aerodynamics, power and energy, propulsion, thrust-vectoring and level of autonomy of aircrafts, also highlights about use of sensors, control methods and flight schemes.
Abstract: In this document, a review about snake aerial manipulators is presented. The most common mechatronical implications found in their design are described. The text is presented to the reader as a set of modules, this include topics about structural dynamics, aerodynamics, power and energy, propulsion, thrust-vectoring and level of autonomy of aircrafts, also highlights about use of sensors, control methods and flight schemes.
15 citations
Cites background from "Identification results of an intern..."
...In this manner the option for this power consumption and desired flight time are internal combustion engines [109]–[112] if it is pretended to do a free flight....
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TL;DR: In this paper, a method for characterization of the multi-rotor UAV propulsion system is proposed, which is a fundamental step in the design process of this type of UAV.
Abstract: Due to their abilities, multirotor unmanned aerial vehicles (UAVs) can be used in various missions that require complex and precise movements, so they are a typical representative of aerial robots. Since this type of UAV is characterized by high energy consumption, it is of most importance to precisely choose the system parameters and components in order to achieve the required flight performance that meets the mission requirements. In this paper, a method for characterization of the multirotor UAV propulsion system is proposed, which is a fundamental step in the design process of this type of UAV. For the purpose of method validation, experimental measurements and signal acquisition were performed, and the measurement results for the considered electric propulsion units were shown. An identification procedure is presented, which is used to process the measurement results or manufacturer’s data and display them as propulsion unit static maps. Based on static maps, the characterization process of the electric propulsion system is performed, and the propulsion unit characteristics are shown.
14 citations
01 Jun 2018
TL;DR: This paper proposes to combine the moving mass control (MMC) with rotors' variations in a paradigm known as a mid-ranging control, which ensures reference tracking and disturbance rejection with the moving masses operating in the middle of their range, which eventually reduces the possibility to violate their saturation limits.
Abstract: This paper addresses the problem of actuators saturation that occur when one applies a moving mass concept to control the attitude of a mul-tirotor UAV. In particular, we propose to combine the moving mass control (MMC) with rotors' variations in a paradigm known as a mid-ranging control. We show that this control structure ensures reference tracking and disturbance rejection with the moving masses operating in the middle of their range, which eventually reduces the possibility to violate their saturation limits. We also address the stability and design of the proposed controller by employing Routh-Hourwitz criterion and root-locus analysis. The controller is verified within a simulation environment, where we test its performance and compare it with a basic MMC concept under various disturbances. Finally, we present experimental results that we obtained with a modified ArduCopter vehicle, which serves as an experimental platform for the MMC verification.
8 citations
Cites background from "Identification results of an intern..."
...moments, otherwise difficult to achieve with dynamically slow and inconsistent ICEs [7][8]....
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01 Jun 2017
TL;DR: In this paper, the authors present a concept of a multi-rotor UAV capable of horizontally moving without tilting the vehicle body, which is based on the moving mass control.
Abstract: In this paper we present a concept of a multirotor unmanned aerial vehicle (UAV) capable of horizontally moving without tilting the vehicle body. The concept is based on the moving mass control, which we have recently proposed for roll and pitch control of a large multirotor UAV with internal combustion engines (ICEs). The vehicle is comprised of four ICEs with rotors tilted towards the body center and four moving masses, each placed in a motor arm. We give a complete 6 degrees of freedom (DOF) mathematical model in the form of nonlinear differential equations, which we linearize to obtain transfer functions. The models are used to design a control system comprised of state space controllers for roll/pitch stabilization and PID controllers for height, yaw and velocity control. The concept is verified in the Gazebo simulator and experimentally on a 2DOF laboratory gimbal.
6 citations
Cites background or methods from "Identification results of an intern..."
...The thrust force of the j-th rotor is given with [15]:...
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...We assume that the rotor velocity is controlled and its closed loop can be described as [15]:...
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Book•
03 Feb 2020
2 citations
References
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20 Aug 2007
TL;DR: In this paper, a theoretical development is presented, and validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter.
Abstract: Quadrotor helicopters are emerging as a popular platform for unmanned aerial vehicle (UAV) research, due to the simplicity of their construction and maintenance, their ability to hover, and their vertical take o and landing (VTOL) capability. Current designs have often considered only nominal operating conditions for vehicle control design. This work seeks to address issues that arise when deviating significantly from the hover flight regime. Aided by well established research for helicopter flight control, three separate aerodynamic eects are investigated as they pertain to quadrotor flight, due to vehicular velocity, angle of attack, and airframe design. They cause moments that aect attitude control, and thrust variation that aects altitude control. Where possible, a theoretical development is first presented, and is then validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter. The results enabled improved controller performance.
1,074 citations
Additional excerpts
...Among all used UAV platforms, quadrotors stand out as the most popular platform due to their vertical take off and landing (VTOL) capability, maneuverability, simplicity of construction and maintenance [1]....
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07 Jun 2004
TL;DR: The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Abstract: Progresses in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring and building exploration. In this paper we describe the approach that our lab has taken to micro VTOL evolving towards full autonomy, and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.
831 citations
"Identification results of an intern..." refers background in this paper
...However, the main drawback of quadrotors is their high energy consumption [2]....
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TL;DR: The X-4 Flyer as mentioned in this paper is a 4.4 kg quadrotor with a 1.5 kg payload, which uses tuned plant dynamics with an onboard attitude controller to stabilise flight.
Abstract: Typical quadrotor aerial robots used in research weigh <3kg and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4. kg quadrotor with a 1. kg payload, is intended to be prototypical of useful commercial quadrotors. The custom-built craft uses tuned plant dynamics with an onboard embedded attitude controller to stabilise flight. Independent linear SISO controllers were designed to regulate flyer attitude. The performance of the system is demonstrated in indoor and outdoor flight.
492 citations
"Identification results of an intern..." refers background or methods in this paper
...Note that this is a widely used assumption [9], [11], while a more precise model would include a second order dynamical term [7], which would then result in a reduced gain margin....
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...Note that the most of multi-rotor UAVs with electrical propulsion system do not implement rotor speed control loop, but closing this loop should increase the vehicle stability margin, as pointed in [11]....
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01 Jan 2016
TL;DR: In this paper, the authors introduce the ROS basics and Foundations, Navigation, Motion and Planning, Service and Experimental Robots, Part IV Real-World Applications Deployment, Perception and Sensing, Part VI Software Engineering with ROS, Part VII ROS Simulation Frameworks and Part VII Advanced Tools for ROS
Abstract: Part I ROS Basics and Foundations- Part II Navigation, Motion and Planning- Part III Service and Experimental Robots- Part IV Real-World Applications Deployment- Part V Perception and Sensing- Part VI Software Engineering with ROS- Part VII ROS Simulation Frameworks- Part VII Advanced Tools for ROS
215 citations
Book•
10 Feb 2016
TL;DR: This book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications.
Abstract: The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.
187 citations