Comprehensive kinematic modeling and analysis of a coaxial helicopter’s swashplate mechanism

Yuan, Xin; Zhu, Jihong; Chen, Zhigang; Lu, Xingju; Meng, Jiadong

doi:10.1177/0954406214547402

Cited by 6 publications

(5 citation statements)

References 26 publications

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“…by servomotors), this is useful to separate the execution of tasks for which the propellers possibly do not have enough force or torque. So far and according to our investigation, such an operation is characteristic of the conventional mechanisms of steering of coaxial aircrafts and another small UAVs [76], [140], [153], [159]- [163] and the swashplate-systems of bulky and massive aircrafts [156], [164]- [166].…”

Section: F Design Considerations According To the Thruster Autonomymentioning

confidence: 99%

Snake Aerial Manipulators: A Review

et al. 2020

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In this document, a review about snake aerial manipulators is presented. The most common mechatronical implications found in their design are described. The text is presented to the reader as a set of modules, this include topics about structural dynamics, aerodynamics, power and energy, propulsion, thrust-vectoring and level of autonomy of aircrafts, also highlights about use of sensors, control methods and flight schemes. INDEX TERMS Aerial manipulator, cooperative systems, UAS. I. INTRODUCTIONTo follow it is convenient to expose a brief introduction to coupled and decoupled task aerial manipulation concepts. Which are the basis of snake aerial manipulators. Both concepts are widely described in [1]-[5]. A. AERIAL MANIPULATION OF DECOUPLED AND COUPLED TASKS II. MECHANICAL CONSIDERATIONS, POWER AND AERODYNAMICS A. COMMON COMPONENTSGuiding element, base element, reference element or branching element: All these are synonymous and they are defined as a reference point from which at least 2 arms, also called kinematic chains, fork.Kinematic chain: successive union of engine elements (multicopters, individual propellers and/or motors) with elements of transmission or propagation of movement (bar linkages), by using connecting elements (joints or the motors by themselves).Engine elements: they are the multicopter aircraft or individual propellers which, in addition to allowing the hovering and flight of the whole system, produce the rotational movements necessary to transmit and propagate to more complex movements through the kinematic chains with or without the assistance of auxiliary motors. Table.2 TABLE 2. Kinds of engines for snake aerial manipulators.Elements of transmission or propagation: they are bar linkages that connect one drone to other or one propeller to other and allow the chained transmission of their rotations and translations Joint elements: the driving elements with the linkages are connected through joints. They allow the general mobility and the propagation or suppression of one or more relative movements. They could be any type of bearing, for example standard bearings, ball-joints (which particularly allows three-dimensional mobility), rigid bearings (like bronze bushings), restricted rotation bearings (that have no free rotation of yaw movement as a cardan joint or a locked ball-joint), magnetic joints, clutches (they allow a variable type connection), or even auxiliary motors by themselves according to the usage and design Damping elements: they are used to control or suppress unwanted movements such as bumps, and vibration or misalignment between the driving elements, the transmission elements and the joints. Examples are rubber shock-absorbers or flexible couplings Power elements: they allow the aircraft and the auxiliary engine elements to be energized. Examples are batteries, electrical extension cords, power cells, solar cells etc.

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Section: F Design Considerations According To the Thruster Autonomymentioning

confidence: 99%

Snake Aerial Manipulators: A Review

et al. 2020

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“…When the swashplate is higher, the opposite is true. The result is that the resultant thrust direction of all blades produced by the upper paddle is the same as the normal vector direction of the swashplate plane [17].…”

Section: Shimmy Hingementioning

confidence: 99%

“…Compared with the eddy theory, or CFD method, this method has advantages of simplicity and convenience with respect to calculation and is in good agreement with the experimental data. Notably, the model is based on the following assumptions: The blade is considered to be rigid; the truncation effect at the blade root, tip loss, and flapping hinge extension is neglected, and the unsteady effect is neglected; the inflow velocity is considered to be uniformly distributed in the plane of the blade disk [17]. The core idea is to link the induced dynamic speed and the air resistance change through the following formula:…”

Section: The Model With Rotor Interference and Flapping Motionmentioning

confidence: 99%

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Research on the Control Algorithm of Coaxial Rotor Aircraft based on Sliding Mode and PID

Wei

Chen²,

Li³

et al. 2019

Electronics

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In this paper, a sliding mode PID control algorithm of coaxial rotor aircraft has been proposed. After that, Adams/MATLAB simulation and experiments were used for verification. The results show that this control method can achieve satisfactory results. Firstly, when considering of the aerodynamic interaction between upper and lower rotor, it is difficult to establish an accurate mathematical model, and the aerodynamic interference between the upper and lower rotors and the brandishing motion of the blades are calculated by using the blade element theory and the dynamic inflow model, and the other parts which are not accurately modeled are compensated for by the control algorithm. Secondly, the sliding mode control algorithm and the PID control algorithm are combined to control the attitude of the aircraft. Among them, the PID control algorithm is used to establish the relationship between attitude and position, so that the aircraft can fly and hover more steadily. Thirdly, the three-dimensional model of the aircraft was imported into Adams to establish the dynamic simulation model. Then, the controller was established in Simulink, after that, and then the controller and the dynamic simulation model were combined for joint simulation. And the sliding mode PID control algorithm has been compared with traditional PID control algorithm through the simulation. Finally, the sliding mode PID control algorithm is verified by the experiment compared with the traditional PID algorithm. The results verify the superiority and practicability of the control method designed in this paper.involved in this paper is significantly reduced, being more portable and suitable for use. The coaxial rotor aircraft we chose is being developed independently by our laboratory. The maximum takeoff weight is about 8 kg and the rotor diameter is about 28 inches. After folding, the size of the fuselage is less than 120 mm in diameter and the full length is about 100 cm. It is placed in a narrow and long rocket compartment for transportation and delivery, and the folded rotor is simpler and more reliable than the folded fuselage design [2].Compared with other kinds of aircrafts, the research on coaxial rotor aircraft is relatively less. Automatic Control Laboratory of Tlemcen presented a nonlinear control method based on sliding mode control (SMC) for the position and the attitude tracking control of a small coaxial-rotor UAV subjected to uncertainties and aerodynamic disturbances [3]. Recently, they proposed a hierarchical controller based on a new disturbance observer with finite time convergence to solve the path tracking of a small coaxial-rotor-typs UAVs despite unknown aerodynamic efforts [4],however, the advanced algorithms they studied are still only at the simulation level, without experimental verification. There is still a long way to go before engineering applications; the French-German Research Institute of Saint-Louis presented a comprehensive design of a Gun Launched Micro Air Vehicle (GLMAV) which is a new Micro Air Vehicle (MAV) ...

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“…In the authors' former works, a comprehensive kinematic model, including position, velocity and acceleration relations has been established. 21 Here we directly give the main results of forward kinematics of the whole system without derivation.…”

Section: B Swashplate Kinematicsmentioning

confidence: 99%

Comprehensive Modeling and Analysis of an Unmanned Coaxial Helicopter

Yuan

Zhu

2015

AIAA Guidance, Navigation, and Control Conference

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Modeling and analysis of a coaxial helicopter's dynamics is a demanding work because of the complex characteristics in rotor aerodynamics and swashplate mechanism. In this paper, a complete dynamic model for an unmanned coaxial helicopter is established which is proven accurate but simple enough for dynamic analysis and real time simulation. An 14-states aerodynamic model including flapping dynamics and induced velocities is derived considering interaction between rotors. The model is validated to have a good consistency with existed experimental and CFD results. After that, by introducing swashplate kinematics, actuator dynamics and rigid body dynamics, a complete model is constructed. Trim analysis is performed over a large range of forward flight speed, and the hovering performance is analyzed by calculating the necessary power and rotors' figure of merit in different altitude and load. The coupling between heave and yaw motion is also analyzed to propose a decoupling strategy in control design.

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Comprehensive kinematic modeling and analysis of a coaxial helicopter’s swashplate mechanism

Cited by 6 publications

References 26 publications

Snake Aerial Manipulators: A Review

Snake Aerial Manipulators: A Review

Research on the Control Algorithm of Coaxial Rotor Aircraft based on Sliding Mode and PID

Comprehensive Modeling and Analysis of an Unmanned Coaxial Helicopter

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