Development of co-axial Y6-Rotor UAV - design, mathematical modeling, rapid prototyping and experimental validation

Czyba, Roman; Szafranski, Grzegorz; Janik, M.; Pampuch, Krzysztof; Hecel, Michal

doi:10.1109/icuas.2015.7152402

Cited by 13 publications

(9 citation statements)

References 21 publications

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“…Unlike other reported approaches [8][9][10][11][12][13], in this study, the authors have proposed an omnidirectional spherical design with two rotors vertically collinear (see Figure 1, right, and Figure 2).…”

Section: Spherical Gyroscopic Robotmentioning

confidence: 99%

Induced Force Hovering of Spherical Robot by Under-Actuated Control of Dual Rotor

Santos-Medina¹,

Heras-Gaytán²,

Martínez‐García³

et al. 2016

Robot Control

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This chapter discusses the design and modelling of a spherical flying robot. The main objective is to control its hovering and omnidirectional mobility by controlling the air mass differential pressure between two asynchronous coaxial rotors that are aligned collinearly. The spherical robot design has embedded a gyroscopic mechanism of three rings that allow the rotors' under-actuated mobility with 3DOF. The main objective of this study is to maintain the thrust force with nearly vertical direction. The change in pressure between rotors allows to vary the rotors' tilt and pitch. The system uses special design propellers to improve the laminar air mass flux. A nonlinear fitting model automatically calibrates the rotors' angular speed as a function of digital values. This model is the functional form that represents the reference input to control the rotors' speed, validated by three types controllers: P, PI, and PID. The robot's thrust and induced forces and flight mechanics are proposed and analysed. The simulation results show the feasibility of the approach.

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Section: Spherical Gyroscopic Robotmentioning

confidence: 99%

Induced Force Hovering of Spherical Robot by Under-Actuated Control of Dual Rotor

Santos-Medina¹,

Heras-Gaytán²,

Martínez‐García³

et al. 2016

Robot Control

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“…On conventional M-UAVs, the vehicle frame is fixed and the CG offset ∆x cg is usually compensated by the flight controller by increasing the motor throttle output at the rear to re-balance all moments acting on the M-UAV. 7 Power is therefore wasted merely to balance the vehicle which reduces the available excess power to maneuver and stabilize the vehicle. This will be discussed in the next section.…”

Section: Multi-parcel Delivery Scenariomentioning

confidence: 99%

“…[4][5][6] Hence, the FCS is able to compensate for small offsets in the CG location in off-balanced designs by increasing the motor throttle output to re-balance all moments acting on the M-UAV. 7 However, a critical limitation to delivering multiple parcels using M-UAVs is the detrimental flight behavior due to the unbalanced CG position. For conventional M-UAVs the vehicle frame is fixed and, if the weight is not balanced correctly, the motors are commanded by the FCS to operate outside their design range which can affect the vehicle flight time and stability of the system.…”

Section: Introductionmentioning

confidence: 99%

Morphing Concept for Multirotor UAVs Enabling Stability Augmentation and Multiple-Parcel Delivery

Cheng

Charles

Srigrarom

et al. 2019

AIAA Scitech 2019 Forum

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This paper presents a novel morphing concept for multirotor Unmanned Aerial Vehicles (UAVs) to optimize the vehicle flight performance during multi-parcel deliveries. Abrupt changes in the vehicle weight distribution during a parcel delivery can cause the UAVs to be unbalanced. This is usually compensated by the vehicle flight control system but the motors may need to operate outside their design range which can deteriorate the stability and performance of the system. Morphing the geometry of a conventional multirotor airframe enables the vehicle to continuously re-balanced itself which improves the overall vehicle performance and safety. The paper derives expressions for the static stability of multirotor UAVs and discusses the experimental implementation of the morphing technology on a Y6 tricopter configuration. Flight test results of multi-parcel delivery scenarios demonstrate the capability of the proposed technology to balance the throttle outputs of all rotors.

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“…In the marine field, oceanographic observation has been limited due to technology and the cost of operating ships. The surveying tends to be in a short period, and it is not long enough to resolve the problems [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of Remotely Amphibious Drone

Suresh*,

Jasim,

Nagdev

et al. 2020

IJITEE

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The amphibious drone is the drone that is capable to travel in both air and water. In order to move through water, buoyancy force needs to be balanced and it challenges the structural integrity, it must have a better communication system with more penetration and less attenuation of the signal. To overcome that challenge the radio signal and Acoustic communication are widely used in the amphibious drone. In underwater, we have difficulty to get a clear view of positioning, for that there will be a mini system installed on the drone that will automatically calculate and sets their tracks to find the position, depth and time of the system. To achieve better communication an extra ground station will be installed. For controlling the motions of the drone in an effective manner the microcontroller is used as a flight controller for transmitting and resaving the user data. the aluminum alloy is used in the amphibious drone to avoid structural damage. Based on the above consideration the amphibious drone has been developed and measuring their efficiency in both air and water, after experimentation this amphibious drone may be used for coastal rescue, surveillance, oceanographic research etc. The entire design and development of amphibious drone are in progress and testing to be done in the future

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Development of co-axial Y6-Rotor UAV - design, mathematical modeling, rapid prototyping and experimental validation

Cited by 13 publications

References 21 publications

Induced Force Hovering of Spherical Robot by Under-Actuated Control of Dual Rotor

Induced Force Hovering of Spherical Robot by Under-Actuated Control of Dual Rotor

Morphing Concept for Multirotor UAVs Enabling Stability Augmentation and Multiple-Parcel Delivery

Design and Analysis of Remotely Amphibious Drone

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