Modeling and simulation analysis of an unmanned tandem ducted fan vehicle with tilting system

Modelling, attitude controller design and flight experiments of a novel micro-ducted-fan aircraft

“…In a previous study, 12 the thrust of the rotor was presented as a complex implicit integration, making model trimming and linearization challenging. Therefore, in this research, the primary ducted-rotor thrust is derived as an explicit expression based on the conservation theory of momentum and energy…”

“…Note that equation (12) describes the forces and moments of a single primary ducted-fan rotor. Since the rotation directions and locations (in body-fixed coordinates) of the two primary ducts are opposite, certain signs in the equations for the other primary ducted-fan rotor must be switched.…”

“…The value of C Ta is determined based on static-thrust experiments performed in our previous study. 12…”

System identification and robust stabilization using structured controller for a novel ducted fan flying robot

“…However, both simulation and experiment results demonstrate that the previous prototype exhibits poor controllability on the roll channel due to the lack of control forces and torques. 6 In this case, a tilting mechanism is introduced to produce more effective control moment. Aside from the controllability enhancement, another contribution of tilting system is to reduce the number of actuators since vanes that have been replaced require lots of servos.…”

“…flying robot to accomplish multiple missions in different stage, such as high-risk tasks inspection, disaster rescue, complex environmental investigation, and indoor anti-terrorism. Xiang et al 6 also show that sophisticated aerodynamics and control couplings in roll and yaw bring challenges to flight control system design. Meanwhile, uncertain parameters also deteriorate the performance of model-based controller.…”