Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption

Sheng, Shouzhao; Sun, Chen

doi:10.3390/en9040232

Cited by 37 publications

(16 citation statements)

References 20 publications

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“…Since two representations were given for the dynamics of the quadrotor, two sets of SDC are generated. With regard to the state-space equation (5), the first point of view, GPLV, provides: 3 (9) where index "t" stands for translation and "o" for orientation. With regard to the statespace equation (7), the second point of view, GPGV, provides: , will result in an uncontrollable system.…”

Section: The State-dependent Coefficient Parameterizationmentioning

confidence: 99%

See 1 more Smart Citation

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Nekoo

Acosta

Ollero

2019

Advances in Intelligent Systems and Computing

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In this work, a fully coupled six degree-of-freedom (DoF) nonlinear suboptimal control of a variable-pitch quadrotor is studied using a state-dependent Riccati equation (SDRE) controller. The quadrotor control has been widely considered for attitude control; however, the position control is an uncontrollable problem with the common design of the SDRE. Due to the under-actuated nature of a quadrotor, the state-dependent coefficient (SDC) parameterization of statespace representation of a nonlinear system leads to an uncontrollable SDC pair. The control law is divided into two sections of position and attitude control. The position control provides the main thrust. A virtual constraint is regarded to provide stabilization for the quadrotor in attitude control. Two methods were designed for selection of a state vector or in other words, selection of feedback. The first one uses the position and orientation and their derivatives in global coordinate. The second one uses position and orientation in global and their velocities in local coordinate. The dynamics of a variable-pitch propeller quadrotor was imported to the problem and compared with a fixed-pitch propeller system. The simulation of the systems shows that the SDRE is capable of controlling the system with both fixed-and variable-pitch rotor dynamics.

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Section: The State-dependent Coefficient Parameterizationmentioning

confidence: 99%

“…Fresk and Nikolakopoulos presented experimental model derivation and control of a variable pitch propeller for a quadrotor [8]. Sheng and Sun focused on the energy consumption of the variable pitch quadrotor control [9]. Panizza et al presented data-driven attitude control of the system [10].…”

Section: Introductionmentioning

confidence: 99%

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Nekoo

Acosta

Ollero

2019

Advances in Intelligent Systems and Computing

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“…For a desired mission at low altitude through various terrains, stability and control, aerodynamic performance, and endurance offer significant challenges in achieving the quasisteady flight. Thus, for power requirements, Sheng et al [11][12][13] developed a steady-state control and optimization scheme with minimum power consumption based on the mathematical model of the electric variable-pitch propeller to give enhanced MAV roll control. In [14], the blade-flapping response of a quadrotor propeller is analyzed in order to identify the aerodynamic moment acting on a propeller in the presence of a wind gust.…”

Section: Introductionmentioning

confidence: 99%

Effects of Wind Disturbance on the Aerodynamic Performance of a Quadrotor MAV during Hovering

2021

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Wind disturbance could render thrust and power variation or even causing roll which is difficult to maintain a steady flight in gust especially when the horizontal or vertical wind is involved. In this paper, the horizontal wind and vertical wind are presented to study the influence of wind disturbance on aerodynamic characteristics of the quadrotor aircraft in hovering by experiments and numerical simulations. First, the simplified aerodynamic model with the wind disturbance was analyzed in detail. Also, the low-speed wind tunnel tests were performed to obtain the thrust and power variation of the quadrotor aircraft with rotor spacing ratio s = 1.1 -1.8 in both horizontal and vertical winds of 0-5 m/s with the rotational speed ranging from 1500 to 2300 rpm. Finally, the simulations are performed by utilizing the Computational Fluid Dynamics (CFD) software ANSYS to study the flow field distribution of quadrotor with the influence of the wind disturbance. The comparison between experimental results and simulation results shows that the quadrotor achieves better aerodynamic performance with larger thrust and smaller power consumption at rotor spacing ratio s = 1.8 . Additionally, the quadrotor can effectively resist the horizontal wind disturbance, which will bring larger power loading for the quadrotor, especially at 2.5 m/s. However, the vortices near blade-tip move upwards and deform with the influence of vertical wind, resulting in the reduction of thrust and aerodynamic performance of the quadrotor.

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“…This setup, combined with an internal combustion engine with a high energy density, can guarantee the long endurance of the UAV [ 18 , 19 ]. Some other works with a single direct current (DC) motor also seek the optimal energy efficiency by varying the AOA at a single rotational speed for the four propellers [ 20 ]. The second category uses an independent electric motor on every VPP unit.…”

Section: Introductionmentioning

confidence: 99%

An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs

Chang

Chen

Wen

et al. 2020

Sensors

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This paper presents a control allocation method for enhancing the attitude following performance and the energy efficiency of a variable-pitch propeller (VPP) system on quadrotor-based unmanned aerial vehicles. The VPP system was modeled according to the blade element momentum (BEM) theory, and an actuator allocation method was developed with the aim of enhancing the attitude control and energy performance. A simulation environment was built to validate the VPP system by creating a thrust and moment database from the experiments. A four-motor variable-pitch quadrotor was built for verifying the proposed method. The control allocation method was firstly verified in a simulation environment, and was then implemented in a flight controller for indoor flight experiments. The simulation results show the proposed control allocation method greatly improves the yaw following performance. The experimental results demonstrate a difference in the energy consumption through various pitch angles, as well as a reduction in energy consumption, by applying this VPP system.

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Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption

Cited by 37 publications

References 20 publications

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Fully Coupled Six-DoF Nonlinear Suboptimal Control of a Quadrotor: Application to Variable-Pitch Rotor Design

Effects of Wind Disturbance on the Aerodynamic Performance of a Quadrotor MAV during Hovering

An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs

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