Development of a Ground Effect BEMT Analysis Method for Multirotor sUAS

Wilhelm, Jay; Eberhart, Gina M.

doi:10.2514/6.2018-0747

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…Instead, it was used off-line to estimate the height above ground through an airspeed sensor attached below the propeller. BEMT used in IGE analysis incorporates the empirical IGE ratio in the calculation of thrust and power coefficient [24][25][26]. It is assumed that the reduction of inflow follows the empirical model.…”

Section: Prior Related Workmentioning

confidence: 99%

“…For multirotor aerial vehicles, the ground effect contributes both force and torque. Thus, the input consists of IGE force and torque g x; u; t ð Þ¼ g n x; u; t ð Þþ g d x; u; t ð Þ (26) where g n x; u; t ð Þis the nominal input or OGE input, and g d x; u; t ð Þ is the extra input due to IGE loads which can be treated as a disturbance. The nonlinear-disturbance observer from Ref.…”

Section: Control Of In-ground-effectmentioning

confidence: 99%

See 1 more Smart Citation

In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control

He¹,

Kou²,

Calaf

et al. 2019

Journal of Dynamic Systems, Measurement, and Control

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This paper focuses on modeling and control of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). As the vehicle flies and hovers over, around, or underneath obstacles, such as the ground, ceiling, and other features, the IGE induces a change in thrust that drastically affects flight behavior. This effect on each rotor can be vastly different as the vehicle's attitude varies, and this phenomenon limits the ability for precision flight control, navigation, and landing in tight and confined spaces. An exponential model describing this effect is proposed, analyzed, and validated through experiments. The model accurately predicts the quasi-steady IGE for an experimental quadcopter UAV. To compensate for the IGE, a model-based feed-forward controller and a nonlinear-disturbance observer (NDO) are designed for closed-loop control. Both controllers are validated through physical experiments, where results show approximately 23% reduction in the tracking error using the NDO compared to the case when IGE is not compensated for.

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Section: Prior Related Workmentioning

confidence: 99%

Section: Control Of In-ground-effectmentioning

confidence: 99%