Junsheng Xu
ABSTRACT
Unmanned aerial vehicle (UAV), a type of airborne mobile robot operated without human intervention, has become a research hotspot in recent years due to its numerous advantages. Among them, bicopter has attracted much attention for its superior maneuverability. However, the flight performance of the bicopter is easily affected by various airframe parameters, such as the position of the center of gravity, rotor inertia, and angle of the servo tilting axis. In this study, we conduct theoretical analysis of the Oblique Active Tilting(OAT) bicopter to identify optimal parameters for stable flight. First, we obtain the transfer function of the UAV’s pitch control system based on its pitch motion equation, and analyze its pitch stability using the characteristic equation. Then, we investigate the influence of parameters such as the position of the center of gravity, rotor inertia, and angle of the servo tilting axis on the UAV’s dynamic and steady-state performance, and propose a method to determine the optimal angle of the servo tilting axis. Finally, we validate the effectiveness of our proposed parameters through simulation experiments, demonstrating the theoretical and practical significance of our research for stable control and application of OAT-bicopters.
- Zain Anwar Ali and Xinde Li. 2020. Controlling of an under-actuated quadrotor UAV equipped with a manipulator. IEEE Access 8 (2020), 34664–34674.Google Scholar
Cross Ref
- Charles Blouin and Eric Lanteigne. 2014. Pitch control of an oblique active tilting bi-rotor. In 2014 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 791–799.Google ScholarCross Ref
- KP D’Epagnier. 2006. AUV propellers: Optimal design and improving existing propellers for greater efficiency. In OCEANS 2006. IEEE, 1–7.Google Scholar
- Juan Escareno, Anand Sanchez, O Garcia, and Rogelio Lozano. 2008. Triple tilting rotor mini-UAV: Modeling and embedded control of the attitude. In 2008 American Control Conference. IEEE, 3476–3481.Google ScholarCross Ref
- Ranjan Ganguli, Beatrix Jehnert, Jens Wolfram, and Peter Voersmann. 2007. Optimal location of centre of gravity for swashplateless helicopter UAV and MAV. Aircraft Engineering and Aerospace Technology (2007).Google Scholar
- Hongbo Gao, Juping Zhu, Xinde Li, Yu Kang, Jiehao Li, and Hang Su. 2020. Automatic parking control of unmanned vehicle based on switching control algorithm and backstepping. IEEE/ASME Transactions on Mechatronics 27, 3 (2020), 1233–1243.Google ScholarCross Ref
- Gary Gress. 2002. Using dual propellers as gyroscopes for tilt-prop hover control. In 2002 Biennial International Powered Lift Conference and Exhibit. 5968.Google ScholarCross Ref
- Gary Gress. 2014. Passive Stabilization of VTOL Aircraft Having Obliquely Tilting Propellers. Master’s thesis. Graduate Studies.Google Scholar
- GR Gress. 2018. Natural pitch stabilization of bicopters in hover using lift-propeller gyroscopics. Journal of Guidance, Control, and Dynamics 41, 2 (2018), 476–487.Google ScholarCross Ref
- Gary R Gress. 2007. Lift fans as gyroscopes for controlling compact VTOL air vehicles: overview and development status of oblique active tilting. In Annual forum proceedings-American helicopter society, Vol. 63. AMERICAN HELICOPTER SOCIETY, INC, 69.Google Scholar
- Pei Li and Xinde Li. 2020. Multimodal fusion with co-attention mechanism. In 2020 IEEE 23rd International Conference on Information Fusion (FUSION). IEEE, 1–8.Google ScholarCross Ref
- Chaomin Luo, Jiyong Gao, Xinde Li, Hongwei Mo, and Qimi Jiang. 2014. Sensor-based autonomous robot navigation under unknown environments with grid map representation. In 2014 IEEE Symposium on Swarm Intelligence. IEEE, 1–7.Google ScholarCross Ref
- Youming Qin, Wei Xu, Adrian Lee, and Fu Zhang. 2020. Gemini: A compact yet efficient bi-copter uav for indoor applications. IEEE Robotics and Automation Letters 5, 2 (2020), 3213–3220.Google Scholar
- N Dharma Rao. 1969. Routh-Hurwitz conditions and Lyapunov methods for the transient-stability problem. In Proceedings of the Institution of Electrical Engineers, Vol. 116. IET, 539–547.Google Scholar
- Kedarisetty Siddhardha. 2018. A novel bi-rotor configuration and its control. IFAC-PapersOnLine 51, 1 (2018), 456–461.Google ScholarCross Ref
- Hua Wu, Min Lv, Chang-An Liu, and Chun-Yang Liu. 2012. Planning efficient and robust behaviors for model-based power tower inspection. In 2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI). IEEE, 163–166.Google ScholarCross Ref
Index Terms
- Analysis of Airframe Parameters of OAT-bicopter to Optimize Pitch Stability
Recommendations
The Stability and Noise Tolerance of Cartesian Zernike Moments Invariants
AbstractIn real applications, it is quite common that shapes may have changes in orientation, scale, and viewpoint; a shape retrieval method should be unaffected by translation, rotation, and scaling. Zernike moments are widely used in shape retrieval, ...
Comments