Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors

Abstract

Unmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects manipulation. In this paper, a procedure for the performance analysis of fully actuated multirotor UAV configurations is proposed. For this purpose, a configuration is described by a control allocation scheme and implemented in the software package which enables the analysis and control implementation of a real system. The parameter analysis of the passively tilted multirotor configurations is performed based on the characteristics of the electric propulsion units, and the allocation of propulsion forces is graphically shown. The results of the proposed procedure provide an insight into the capabilities of configurations and can ultimately be used to select the propulsion system components and parameters according to the requirements and constraints associated with the specific mission profile. An experimental aircraft was built, and custom firmware was created, which enable us to experimentally prove the feasibility of fully actuated and passively tilted configurations.

The effects of dihedral angle on hover rigidity and planar maneuvers in rotary-wing UAVs

“…where r is the location of the outer rotation center with êy unit direction vector, L is the chassis width, and t stems for the propellers' tilt angle. Differential equations of motion for translational and rotational subsystems are formed using both Newton's laws of motion (Kotarski et al, 2021) and the Lagrangian dynamic approach (Rached and Abu Hatab, 2013). They are presented in equations ( 2) and (3):…”

“…According to the rho ( ρ ) calculation in equation (1), when τ (tau) becomes 90 degrees (zero dihedral angle), the outer rotation center goes to infinity: where ρ is the location of the outer rotation center with truee^italicy unit direction vector, L is the chassis width, and τ stems for the propellers’ tilt angle. Differential equations of motion for translational and rotational subsystems are formed using both Newton’s laws of motion (Kotarski et al , 2021) and the Lagrangian dynamic approach (Rached and Abu Hatab, 2013). They are presented in equations (2) and (3): where a and α are translational and rotational accelerations.…”

Framework for Design and Additive Manufacturing of Specialised Multirotor UAV Parts

“…Numerous types of aircraft with various propulsion configurations are used to perform different tasks, activities, and for research and development. In addition to conventional types of UAVs with fixed wings [8,9] and rotary wings [10][11][12], a number of hybrid configurations [13,14] and bioinspired propulsion configurations [15,16] are being investigated. Fixed-wing aircraft can achieve high speeds and compared to other types, consume less energy to achieve movement, but on the other hand, unable to perform the stationary flight.…”

Design and Implementation of a Ball-Plate Control System and Python Script for Educational Purposes in STEM Technologies

“…Numerous MPC algorithms have been used in the past for various industrial process controls, but also for numerous other processes. Examples of applications are: heating, ventilation and air conditioning systems [19], robotic manipulators [20], electromagnetic mills [21], servo motors [22], quadrotors [23], autonomous vehicles [24], modular multirotors, improved design of unmanned aerial vehicles [25,26].…”