A method for evaluating the wind disturbance rejection capability of a hybrid UAV in the quadrotor mode

Zhang, Hang; Song, Bifeng; Wang, Haifeng; Xuan, Jianlin

doi:10.1177/1756829319869647

Cited by 19 publications

(10 citation statements)

References 25 publications

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“…The aim of the robust control system is to overcome the effects of gust on the UAV. The Dryden wind turbulence model represented by the Dryden velocity spectra (stochastic process) incorporated turbulence effects on the UAV model using band-limited white noise (Zhang et al , 2019).…”

Section: Design and Evaluation Of Proposed Robust H-infinity Controller For Vertical Take-off And Landing Quad Tiltrotor Unmanned Aerial mentioning

confidence: 99%

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Hegde

George

Nayak

et al. 2021

IJIUS

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PurposeThis paper aims to provide a mathematical modeling and design of H-infinity controller for an autonomous vertical take-off and landing (VTOL) Quad Tiltrotor hybrid unmanned aerial vehicles (UAVs). The variation in the aerodynamics and model dynamics of these aerial vehicles due to its tilting rotors are the key issues and challenges, which attracts the attention of many researchers. They carry parametric uncertainties (such as non-linear friction force, backlash, etc.), which drives the designed controller based on the nominal model to instability or performance degradation. The controller needs to take these factors into consideration and still give good stability and performance. Hence, a robust H-infinity controller is proposed that can handle these uncertainties.Design/methodology/approachA unique VTOL Quad Tiltrotor hybrid UAV, which operates in three flight modes, is mathematically modeled using Newton–Euler equations of motion. The contribution of the model is its ability to combine high-speed level flight, VTOL and transition between these two phases. The transition involves the tilting of the proprotors from 90° to 0° and vice-versa in 15° intervals. A robust H-infinity control strategy is proposed, evaluated and analyzed through simulation to control the flight dynamics for different modes of operation.FindingsThe main contribution of this research is the mathematical modeling of three flight modes (vertical takeoff–forward, transition–cruise-back, transition-vertical landing) of operation by controlling the revolutions per minute and tilt angles, which are independent of each other. An autonomous flight control system using a robust H-infinity controller to stabilize the mode of transition is designed for the Quad Tiltrotor UAV in the presence of uncertainties, noise and disturbances using MATLAB/SIMULINK. This paper focused on improving the disturbance rejection properties of the proposed UAV by designing a robust H-infinity controller for position and orientation trajectory regulation in the presence of uncertainty. The simulation results show that the Tiltrotor achieves transition successfully with disturbances, noise and uncertainties being present.Originality/valueA novel VTOL Quad Tiltrotor UAV mathematical model is developed with a special tilting rotor mechanism, which combines both aircraft and helicopter flight modes with the transition taking place in between phases using robust H-infinity controller for attitude, altitude and trajectory regulation in the presence of uncertainty.

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Section: Design and Evaluation Of Proposed Robust H-infinity Controller For Vertical Take-off And Landing Quad Tiltrotor Unmanned Aerial mentioning

confidence: 99%

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Hegde

George

Nayak

et al. 2021

IJIUS

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“…V/STOL UAVs in most time work as fixed-wing UAVs. Thus, its hovering performance is considerably degraded by the wind disturbance that is introduced by the wing 16 . According to a survey research 17 , hybrid UAVs with multiple rotors are classified into multirotor tilt-rotor convertiplane, multirotor tilt-wing convertiplane, multirotor dual-system convertiplane and multirotor tailsitter.…”

Section: Comparison With Other Uavsmentioning

confidence: 99%

A Lifting Wing Fixed on Multirotor UAVs for Long Flight Ranges

Xiao

Meng

Dai

et al. 2020

Preprint

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This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in energy consumption and improvement of flight range compared to traditional multirotor UAVs. Its dynamic model is built according to the classical multirotor theory and the fixed-wing theory, as the aerodynamics of its multiple propellers and that of its lifting wing are almost decoupled. Its design takes into consideration aerodynamics, airframe configuration and the mounting angle. The performance of the UAV is verified by experiments, which show that the lifting wing saves 50.14% of the power when the UAV flies at the cruise speed (15m/s).

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“…Chen et al 3 proposed the tilted-rotor configuration design method to select the best design parameters and components according to the particular payload and hovering time, so as to accurately maintain the position in a turbulent wind environment and improve the disturbance rejection capability. Similarly, Zhang et al 4 analyzed the influencing factors of the wind disturbance rejection capability according to static equilibrium analysis of the quadrotor, and obtained the corresponding improvement methods. Then, Lee et al 5 designed a new type of multi-rotor UAV with stable and constant flight performances, which can carry many types of cargo.…”

Section: Introductionmentioning

confidence: 99%

Lightweight and maintainable rotary-wing UAV frame from configurable design to detailed design

Guo

Sun

et al. 2021

Advances in Mechanical Engineering

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Rotary-wing unmanned aerial vehicles (UAVs) are widespread in both the military and civilian applications. However, there are still some problems for the UAV design such as the long design period, high manufacturing cost, and difficulty in maintenance. Therefore, this paper proposes a novel design method to obtain a lightweight and maintainable UAV frame from configurable design to detailed design. First, configurable design is implemented to determine the initial design domain of the UAV frame. Second, topology optimization method based on inertia relief theory is used to transform the initial geometric model into the UAV frame structure. Third, process design is considered to improve the manufacturability and maintainability of the UAV frame. Finally, dynamic drop test is used to validate the crashworthiness of the UAV frame. Therefore, a lightweight UAV frame structure composed of thin-walled parts can be obtained and the design period can be greatly reduced via the proposed method.

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A method for evaluating the wind disturbance rejection capability of a hybrid UAV in the quadrotor mode

Cited by 19 publications

References 25 publications

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

Application of robust H-infinity controller in transition flight modeling of autonomous VTOL convertible Quad Tiltrotor UAV

A Lifting Wing Fixed on Multirotor UAVs for Long Flight Ranges

Lightweight and maintainable rotary-wing UAV frame from configurable design to detailed design

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