Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings

Abstract

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 3-5 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.

Computationally Efficient Force and Moment Models for Propellers in UAV Forward Flight Applications

“…In the context of control of multirotor vehicles, the typical modelling approach has been to use a hover or 'static' model, that is, the thrust and rotor torque are proportional to the square of the propeller rotation rate, and to neglect H-force, pitching and rolling moments [16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33]. As shown in [15], this model breaks down when a quadrotor flies at moderate speeds.…”

Adaptive backstepping controller design of quadrotor biplane for payload delivery

“…where 𝜌 is the air density (kg∕m 3 ). Quadrotor frame is aligned with the inertial frame with center of gravity of the biplane quadrotor and the rotational matrix is given as…”

“…Sridharan et al [2], propose a methodology for size and estimate the weight of primary load-carrying members as demonstrated on biplane tailsitter. Dawkins et al propose a mathematical model and a PID controller for efficiency analysis of a micro quadrotor drone with airfoils and trim analysis suitable for nominal flight conditions [3]. Such algorithms iteratively learn a transition maneuver via flight trials using pitch angle and thrust regulation as per suitable control laws.…”