Quadrotor parameters identification and control system design

Filatov, Denis M.; Devyatkin, A. V.; Friedrich, Anastasya I.

doi:10.1109/eiconrus.2017.7910684

Cited by 3 publications

(3 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Typically, a force sensor and a reaction torque sensor are necessary to come up with the propeller thrust-torque and thrust-pulse width modulation (PWM) relationships [13,14]. However, these sophisticated sensors are highly expensive and not readily available.…”

Section: Propeller Parametersmentioning

confidence: 99%

“…In a similar way, temperature and pressure could also affect the PWM to thrust relationship of the propellers. However, due again to the lack of the required facility and equipment to control ambient temperature and pressure and to simplify the problem, the PWM to thrust relationship was assumed constant and invariant to changes in pressure and temperature; this was also assumed in [13]. The drag torque on the quadcopter's body due to the air resistance was modeled by suspending the quadcopter along a bearing with a single axis of rotation as shown Figure 5.…”

Section: Drag Coefficientsmentioning

confidence: 99%

“…The propeller exerts a torque in a direction opposite its sense of rotation [17]-a part of this is the reaction torque τ ψ exerted by the spinning propeller onto the body frame while the remaining is dissipated by aerodynamic drag τ d prop . Thus, at steady state, τ e =τ m =τ ψ +τ d prop (13) From [15],…”

Section: Propeller Parametersmentioning

confidence: 99%

See 2 more Smart Citations

Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

Rible¹,

Arriola²,

Ramos³

2020

Adv. sci. technol. eng. syst. j.

View full text Add to dashboard Cite

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust-angular speed to a certain level of accuracy. Thrust-torque modeling requires an expensive reaction torque measurement sensor. In the absence of sophisticated equipment, the study comes up with alternative methods to complete the quadcopter model. The study also presents a method of modeling the rotational aerodynamic drag on the quadcopter. Although the resulting model of the reaction torque generated by the quadcopter's propellers and the model of the drag torque acting on the quadcopter body that are derived using the methods in this study may not yield the true values of these quantities, the experimental modeling techniques presented in this work ensure that the derived dynamic model for the quadcopter will nevertheless behave identically with the true model for the quadcopter. The derived dynamic model is validated by basic flight controller simulation and actual flight implementation. The model is used as basis for a quadcopter design, which eventually is used for test purposes of basic flight control. This study serves as a baseline for fail-safe control of a quadcopter experiencing an unexpected motor failure.

show abstract

Section: Propeller Parametersmentioning

confidence: 99%

Section: Drag Coefficientsmentioning

confidence: 99%

See 1 more Smart Citation

Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

Rible¹,

Arriola²,

Ramos³

2020

Adv. sci. technol. eng. syst. j.

View full text Add to dashboard Cite

show abstract

Experimental Analysis and Affirmation of Vital Parameters of Multi-Rotors Drones

Tyagi

Shwetanshu

Rajesh

et al. 2021

2021 6th International Conference for Convergence in Technology (I2CT)

View full text Add to dashboard Cite

Review on System Identification for Quadrotor Unmanned Aerial Vehicle (UAV)

Legowo

Sulaeman

Rosli³

2019

2019 Advances in Science and Engineering Technology International Conferences (ASET)

View full text Add to dashboard Cite

Unmanned Aerial Vehicle (UAV) has been the interest in many researchers. It has become increasingly popular over the last decade. Quadrotor UAV is a small helicopter and is highly unstable without any flight controller. Therefore, a proper control on the UAV's dynamic need to be applied for stabilization. An accurate model of the vehicle dynamics is important to stabilize the UAV. System identification allows the researchers to build mathematical models of a dynamic system based on measured data. In this paper, various system identifications on quadrotor UAV are discussed. This paper only reviews the literature on system identification based on other researches that had been done. Critical review on each method is briefly discussed. This paper also provides the idea of system identification and its characteristics. Concluding remark is given regarding the suitable method for the model chosen.

show abstract

Quadrotor parameters identification and control system design

Cited by 3 publications

References 9 publications

Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

Modeling and Implementation of Quadcopter Autonomous Flight Based on Alternative Methods to Determine Propeller Parameters

Experimental Analysis and Affirmation of Vital Parameters of Multi-Rotors Drones

Review on System Identification for Quadrotor Unmanned Aerial Vehicle (UAV)

Contact Info

Product

Resources

About