Comparing dynamic model and flight control of plus and cross quadcopter configurations

Ali, Mohsin; Abdulhady, Jaber

doi:10.5937/fme2204683m

Cited by 5 publications

(6 citation statements)

References 15 publications

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“…Vepa and Sagar [26] optimized a monocoque frame using a genetic algorithm, achieving a cost-effective and lightweight design through transient simulations. Lastly, Ali and Jaber [27] analyzed the performance differences between cross and quadcopter configurations, highlighting stability issues in the plus configuration during pitch and roll maneuvers. A detailed comparative Table 1 summarizing the key methodologies from related selected studies is presented below.…”

Section: Related Workmentioning

confidence: 99%

Quadcopter Unmanned Aerial Vehicle Structural Design Using an Integrated Approach of Topology Optimization and Additive Manufacturing

Al-Haddad,

Jaber,

Giernacki

et al. 2024

Designs

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The performance of quadcopter frames, particularly in terms of weight and crash resistance, is significantly influenced by their structural design and manufacturing process. In this work, a methodology is proposed that integrates advanced principles of topology optimization (TO) and additive manufacturing (AM) techniques to optimize the frame structure for improved performance. First, an analysis is conducted to evaluate existing quadcopter frame configurations, identifying areas for improvement. Experimental evaluations of thrust and moment of motors are performed to assess the performance of the enhanced quadcopter frame, with a focus on advancing the design through computer-aided simulations of static structural analysis and impact tests. The TO technique is then employed to determine the optimal distribution of material within the frame, governed by constraints such as weight reduction and mechanical strength. The results demonstrate that the overall performance of a quadcopter frame is significantly improved by the proposed methodology, showcasing advancements in stability, weight reduction, and crashworthiness. The resulting optimized frame design is subsequently manufactured using AM methods, which offer advantages such as design flexibility and the ability to produce complex geometries. The findings of this study contribute to the field of quadcopter design and optimization by highlighting the synergies between TO and AM techniques. An avenue is offered for the development of lightweight and robust quadcopter frames, as the capabilities and performance of quadcopter systems are advanced. The insights gained from this research open up opportunities for further advancements in the design and manufacturing of UAVs.

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Section: Related Workmentioning

confidence: 99%

Quadcopter Unmanned Aerial Vehicle Structural Design Using an Integrated Approach of Topology Optimization and Additive Manufacturing

Al-Haddad,

Jaber,

Giernacki

et al. 2024

Designs

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“…The angles φ, θ, and ω represent the rotation angles around the axes X, Y, and Z. Below is the rotation matrix created by combining all the modulating free positions in which the quadcopter can be found by grasping the above-mentioned angles [12,14].…”

Section: Dynamic Model Of Classic Quadcoptersmentioning

confidence: 99%

Analysis of the performance and kinematics of the movement of UAV

Miloš,

Mirosavljević

2023

FME Transactions

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The use of drones today has become an integral part of modern life to the extent that the level of drone utilization determines the quality of life. The expansion of drone applications has grown exponentially. This growth is primarily due to their low acquisition and maintenance costs, as well as their versatility. First of all, their expansion is contributed by the low costs of both acquisition and maintenance, as well as the possibility of various applications. The paper aims to present drones and their advantages compared to traditional aircraft as a means of transportation. The paper includes an analysis of unmanned aircraft performance, an examination of the kinematics of unmanned aircraft movement, a discussion of the most common structure used in unmanned aircraft (the quadcopter), and a comprehensive assessment of the risks associated with unmanned aircraft and their potential integration into civil air traffic. The quadcopter structure, as the dominant solution for the production of unmanned aircraft, is discussed in detail. At the very end, an overall analysis of the risks posed by unmanned aircraft and, as such, whether they can be integrated into civil air traffic is given.

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“…The cross (x) configuration of the quadcopter with rotor 1 and rotor 2 rotating anticlockwise and rotor 3 and rotor 4 rotating clockwise is illustrated in Fig. 1, [12] [13]. The difference in lift force is used to generate motion by adjusting the rotor's velocity in pairs.…”

Section: Quadcopter's Descriptionmentioning

confidence: 99%

“…In the process, a PID controller works in close form to calculate the difference between a set point and the desired set point and works on minimizing it by tuning the control variables [24] [25]. The relation between the error of the system and PID controller output is defined by equation (12), where equation (13) represents the difference between desired and generated output [19][21] [22] [25].…”

Section: Pid Controllermentioning

confidence: 99%

See 1 more Smart Citation

Self-Tuning PID Controller for Quadcopter using Fuzzy Logic

Baharuddin,

Basri

2023

IJRCS

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Tracking has become a necessary feature of a drone. This is due to the demand for drones, especially quadcopters, to be used for activities such as surveillance, monitoring, and filming. It is crucial to ensure the quadcopters perform the tracking with stable flight. Despite the advantages of having VTOL ability and great maneuverability, quadcopters require an effective controller to overcome their under-actuation and instability behavior. Even though a PID controller is commonly used and promising with its simple mechanism, it requires very proper tuning to ensure the stability of the system is not affected. In this paper, a simple Fuzzy algorithm is proposed to be incorporated into a PID controller to form a self-tuning Fuzzy PID controller. The Fuzzy logic controller works as the self-adjuster to the PID parameters. A mathematical model of the DJI Tello quadcopter is derived with position and attitude control loops that are designed to track a variety of trajectories with stable flight. The proposed method uses a simple architecture where the ranges of PID parameters are used as scaling factors for Fuzzy controller outputs. The results of the simulations show the tracking error performance metrics, which are IAE, ISE, and RMSE, are smaller compared to the values of the PID controller. Beyond its impact on quadcopter control, the proposed self-tuning approach holds promise for broader applications in nonlinear systems.

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Comparing dynamic model and flight control of plus and cross quadcopter configurations

Cited by 5 publications

References 15 publications

Quadcopter Unmanned Aerial Vehicle Structural Design Using an Integrated Approach of Topology Optimization and Additive Manufacturing

Quadcopter Unmanned Aerial Vehicle Structural Design Using an Integrated Approach of Topology Optimization and Additive Manufacturing

Analysis of the performance and kinematics of the movement of UAV

Self-Tuning PID Controller for Quadcopter using Fuzzy Logic

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