Modelling and simulation of a quad-rotor helicopter

Bousbaine, Amar; Wu, Mian; Poyi, Gwangtim Timothy

doi:10.1049/cp.2012.0318

Cited by 17 publications

(7 citation statements)

References 1 publication

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“…The model is further calibrated and linearized for use on any quadrotor helicopter. 7 Tang et al developed a nonlinear dynamic model and the development of a flight control scheme for a quadrotor. In the dynamic modeling, significant aerodynamic effects arising from the blade deformation of the rotor and the induced momentum are taken into account.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Quadrotor Systems for Various Objective Functions

Heidari

Saska

2020

Robotica

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SUMMARY Quadrotors are unmanned aerial vehicles with many potential applications ranging from mapping to supporting rescue operations. A key feature required for the use of these vehicles under complex conditions is a technique to analytically solve the problem of trajectory planning. Hence, this paper presents a heuristic approach for optimal path planning that the optimization strategy is based on the indirect solution of the open-loop optimal control problem. Firstly, an adequate dynamic system modeling is considered with respect to a configuration of a commercial quadrotor helicopter. The model predicts the effect of the thrust and torques induced by the four propellers on the quadrotor motion. Quadcopter dynamics is described by differential equations that have been derived by using the Newton–Euler method. Then, a path planning algorithm is developed to find the optimal trajectories that meet various objective functions, such as fuel efficiency, and guarantee the flight stability and high-speed operation. Typically, the necessary condition of optimality for a constrained optimal control problem is formulated as a standard form of a two-point boundary-value problem using Pontryagin’s minimum principle. One advantage of the proposed method can solve a wide range of optimal maneuvers for arbitrary initial and final states relevant to every considered cost function. In order to verify the effectiveness of the presented algorithm, several simulation and experiment studies are carried out for finding the optimal path between two points with different objective functions by using MATLAB software. The results clearly show the effect of the proposed approach on the quadrotor systems.

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Section: Introductionmentioning

confidence: 99%

Trajectory Planning of Quadrotor Systems for Various Objective Functions

Heidari

Saska

2020

Robotica

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“…UAVs are also used for agriculture [7][8][9][10] needs, press, television, cinematography [11,12], marine application, pollution detection, and other fields. They have generated a great interest in industrial and academic areas [13][14][15][16][17] due to their small size, unique flight capacities [18][19][20][21], outstanding maneuverability and low cost. A lot of researches related to stability and controllability have been conducted [22][23][24].…”

Section: Introductionmentioning

confidence: 99%

Propeller shrouding influence on lift force of mini unmanned quadcopter

Penkov¹,

Александров²

2017

Int. J. Automot. Mech. Eng.

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This article discusses the lift force generated by a mini unmanned aerial vehicle. Shrouded propellers were considered and analyses of shroud influence on lift force and energy saving were done. By help of laboratory experiments and computational fluid dynamics simulations (propeller velocity varied from 1000 rpm to 6000 rpm, shroud height from 20 mm to 60 mm, gap from 3 mm to 28 mm), it was shown that the shroud diameter influenced the rotor energy consumption up to 30% at velocities of more than 4000 rpm. With the increase shroud diameter (increase of distance between shroud and propeller borders), the lifting force increased. A gap of more than 30 mm practically did not influence the lifting force. Shroud height (from 20 mm to 60 mm, gap is 28 mm) also influenced the propeller efficiency (up to 10%) on small shroud heights (up to 30 mm). With the increase of the shroud height, the lift force decreased about 3% and then it increased up to 12%. From a value of about 50 millimetres, this influence will be unchanged but the total lifting force will be about 5% less in comparison with the force produced by propeller without shroud.

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“…In these cases, aerial vehicles are the natural way to approach the objective to obtain information or even to perform necessary actions such as the deployment of instrumentation [1]. Unmanned aerial vehicles are widely used in various civil [2,3] and military [4] applications, for example for traffic monitoring [5,6], navigation [7,8] and aerial mapping. UAVs are used for agriculture [9,10] needs, press, television, cinematography [11,12], marine application, pollution detection and other fields.…”

Section: Introductionmentioning

confidence: 99%

Analysis and study of the influence of the geometrical parameters of mini unmanned quad-rotor helicopters to optimise energy saving

Penkov¹,

Александров²

2017

Int. J. Automot. Mech. Eng.

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The article discusses lift force generated by mini UAVs (Unmanned Aerial Vehicles). CFD (Computational Fluid Dynamics) simulations were made on the base of a 3D scanned propeller model. Influence of some geometrical parameters of propeller (like velocity or pitch) and quadcopter (like gap) on lifting force was considered. Different propeller pitches were used and pitch influence on propeller lift force was analysed. Normally, lifting force will increase with the increasing of propeller pitch but for different rotation velocities, this increasing is different and in all cases, it can be approximated by a linear relationship. To obtain dependency functions, an equation for calculation of lift force given took into account the correction coefficients. This equation gave reliable results at pitch values equal to 0.3 -0.7 of the propeller diameter and at rotation velocities of 2000 min -1 -8000 min -1 .Lift force dependency from distance between rotors was also considered. Simulations and experiments showed that the lifting force of a quadcopter increased about 15% on gap distances from 5 mm to 35 mm. From a distance of 70 mm, the lifting force will decrease about 2% and then will stabilise. At increasing of distance between propellers from 5 mm until 25 mm, the power consumption decreased 8% -10% and after the gap distance equal to 40 mm, it will be stable and minimal. It can be asserted that quadcopters have different optimal distances between the propellers at different rotation speeds to generate the same force. Equations for calculation of optimal gap distances for different multicopters were derived and calculation results are presented in graphs and tables.

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Modelling and simulation of a quad-rotor helicopter

Cited by 17 publications

References 1 publication

Trajectory Planning of Quadrotor Systems for Various Objective Functions

Trajectory Planning of Quadrotor Systems for Various Objective Functions

Propeller shrouding influence on lift force of mini unmanned quadcopter

Analysis and study of the influence of the geometrical parameters of mini unmanned quad-rotor helicopters to optimise energy saving

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