Modelling and control of a Tilt-Wing Unmanned Aerial Vehicle

Small, Elias; Fresk, Emil; Ανδρικόπουλος, Γεώργιος; Nikolakopoulos, George

doi:10.1109/med.2016.7536050

Cited by 15 publications

(10 citation statements)

References 10 publications

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“…Pradeep [27] deploys a conventional fixed-wing aerodynamics model for trajectory optimization. Similar analytical approaches with the intent of controller design are found in [28] and [29]. Airfoil data based on 2D analytical methods and wind tunnel investigations are used by Öner et al [30] for mathematical modeling and vertical control of a tilt-wing.…”

Section: Aerodynamic Modelmentioning

confidence: 99%

Dynamic Modeling and Analysis of Tilt-Wing Electric Vertical Take-Off and Landing Vehicles

May

Milz

Looye

2022

AIAA SCITECH 2022 Forum

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Electric vertical take-off and landing (eVTOL) aircraft enable new transport options in regional and urban air mobility. One promising but only little investigated and understood subcategory comprises tilt-wing eVTOLs. They offer high efficiency and long flight ranges but come with a trade-off in increased complexity. Consequently, a critical step towards market entry is the development of mature and safe hybrid pilot-autonomy control systems, including fault detection, identification, and recovery (FDIR) concepts. That requires a mid-fidelity dynamic model with sufficient accuracy, which is not yet available despite a long history of tilt-wing research. Without a representative model, no detailed analysis and identification of a trimmed transition trajectory could be performed. This, however, is a crucial step in the development of a control system. We approach the problem by applying and combining current modeling approaches. Furthermore, a trim analysis of different flight phases, including the transition, is conducted. The identified model lays the foundation for a representative and detailed development and investigation of future control designs, bringing tilt-wing eVTOLs closer to airworthiness.

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Section: Aerodynamic Modelmentioning

confidence: 99%

Dynamic Modeling and Analysis of Tilt-Wing Electric Vertical Take-Off and Landing Vehicles

May

Milz

Looye

2022

AIAA SCITECH 2022 Forum

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“…Transformation: is needed to apply methods and algorithms in order to change between on the flight and in situ modes [100]- [103] (also see helibot throughout this text). This change also needs to do be done in a smooth way in cases of interacting with fragil materials or living beings.…”

Section: Concerning To Aerodynamics Design Is Divided Into Three Groupsmentioning

confidence: 99%

“…Convertible operation: It is convenient to separate the tasks of an snake aerial manipulator into two steps [55], [85], [100]: transport to the workspace (long distance flight) and in situ aerial manipulation (short distance operations). In this way during the transport to the work area, it is desirable to keep the entire structure as some type of long-distance aircraft (airplane, helicopter), and once it arrives to the work area, transform the vehicle into an snake aerial manipulator, shutting down on the way unnecessary engines, reducing with this the power consumption and storing this power for the manipulation phase.…”

Section: E Design Considerations Of Thrust Vectoring and Propulsionmentioning

confidence: 99%

Snake Aerial Manipulators: A Review

et al. 2020

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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. INDEX TERMS Aerial manipulator, cooperative systems, UAS. I. INTRODUCTIONTo follow it is convenient to expose a brief introduction to coupled and decoupled task aerial manipulation concepts. Which are the basis of snake aerial manipulators. Both concepts are widely described in [1]-[5]. A. AERIAL MANIPULATION OF DECOUPLED AND COUPLED TASKS II. MECHANICAL CONSIDERATIONS, POWER AND AERODYNAMICS A. COMMON COMPONENTSGuiding element, base element, reference element or branching element: All these are synonymous and they are defined as a reference point from which at least 2 arms, also called kinematic chains, fork.Kinematic chain: successive union of engine elements (multicopters, individual propellers and/or motors) with elements of transmission or propagation of movement (bar linkages), by using connecting elements (joints or the motors by themselves).Engine elements: they are the multicopter aircraft or individual propellers which, in addition to allowing the hovering and flight of the whole system, produce the rotational movements necessary to transmit and propagate to more complex movements through the kinematic chains with or without the assistance of auxiliary motors. Table.2 TABLE 2. Kinds of engines for snake aerial manipulators.Elements of transmission or propagation: they are bar linkages that connect one drone to other or one propeller to other and allow the chained transmission of their rotations and translations Joint elements: the driving elements with the linkages are connected through joints. They allow the general mobility and the propagation or suppression of one or more relative movements. They could be any type of bearing, for example standard bearings, ball-joints (which particularly allows three-dimensional mobility), rigid bearings (like bronze bushings), restricted rotation bearings (that have no free rotation of yaw movement as a cardan joint or a locked ball-joint), magnetic joints, clutches (they allow a variable type connection), or even auxiliary motors by themselves according to the usage and design Damping elements: they are used to control or suppress unwanted movements such as bumps, and vibration or misalignment between the driving elements, the transmission elements and the joints. Examples are rubber shock-absorbers or flexible couplings Power elements: they allow the aircraft and the auxiliary engine elements to be energized. Examples are batteries, electrical extension cords, power cells, solar cells etc.

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“…Unlike tilt-rotor UAVs, the study focusing on the tilt-wing UAV is mostly the quad tilt-wing vehicle, due to its structural design similar to quadrotor. In reference [8] the authors present Tri tilt-wing UAVs where the thrust is generated by two main rotors and a tail rotor that stabilizes pitch, however, the paper focuses only on hover flight. On the other hand, the German DHL company [9], developed a dual tilt-wing UAV, where the thrust is generated only by two main rotors, nevertheless, there is no evidence of the vehicle development (structural design, control design, simulations, experimental tests, etc.…”

Section: Introductionmentioning

confidence: 99%

“…They also accounted for the propeller effect (Propeller Momentum Theory) to obtain the aerodynamic behavior of the vehicle in horizontal flight. Other papers as [8,14] mention that mounting the tilt-wings does not affect a fundamental operation of the Quadrotor, likewise, the additional aerodynamic forces exerted on the body and the forces produced by the flow of air from the propellers over the wing profile are neglected.…”

Section: Introductionmentioning

confidence: 99%

Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Sanchez-Rivera

Lozano

Arias-Montaño

2020

Drones

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Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

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Modelling and control of a Tilt-Wing Unmanned Aerial Vehicle

Cited by 15 publications

References 10 publications

Dynamic Modeling and Analysis of Tilt-Wing Electric Vertical Take-Off and Landing Vehicles

Dynamic Modeling and Analysis of Tilt-Wing Electric Vertical Take-Off and Landing Vehicles

Snake Aerial Manipulators: A Review

Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

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