Experimental Validation of Quadrotors Angular Stability in a Gyroscopic Test Bench

Santos, M. F.; Silva, M. F.; Vidal, V. F.; Honório, Leonardo de Mello; Lopes, V. L. M.; Silva, L. A. Z.; Rezende, H. B.; Ribeiro, Jean Marcos de Souza; Cerqueira, A. S.; Pancoti, A. A. N.; Regina, B. A.

doi:10.1109/icstcc.2018.8540660

Cited by 14 publications

(8 citation statements)

References 22 publications

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“…The EMMR platform can be used as a common four-rotor (quadrotor) experimental aircraft [ 23 , 25 ] for testing different control methods of underactuated systems [ 27 , 28 ]. Configurations with more than four rotors can also be assembled, such as hexarotor [ 29 ] used for teaching fault-tolerant control.…”

Section: Discussionmentioning

confidence: 99%

“…There are various papers that deal with the identification of propulsion parameters using test bench systems [ 20 , 21 ]. Furthermore, several approaches are investigated for the purpose of multirotor performance testing with experimental test rigs with three degrees of freedom (DOF) [ 22 , 23 ]. For the education purpose, experimental bench designs that can be made easily and cheaply are preferred, such as the setup presented in [ 24 ], and that can be easily upgraded with load cell sensors as presented in research [ 25 ].…”

Section: Introductionmentioning

confidence: 99%

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A Modular Multirotor Unmanned Aerial Vehicle Design Approach for Development of an Engineering Education Platform

Kotarski

Piljek

Pranjic

et al. 2021

Sensors

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The development of multirotor unmanned aerial vehicles (UAVs) has enabled a vast number of applications. Since further market growth is expected in the future it is important that modern engineers be familiar with these types of mechatronic systems. In this paper, a comprehensive mathematical description of a multirotor UAV, with various configuration parameters, is given. A modular design approach for the development of an educational multirotor platform is proposed. Through the stages of computer-aided design and rapid prototyping an experimental modular multirotor (EMMR) platform is presented. Open-source control system and a novel EMMR enable students to create and test control algorithms for various multirotor configurations. The presented EMMR platform is suitable for students to expand their educational objectives in aerial robotics and control theory.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Modular Multirotor Unmanned Aerial Vehicle Design Approach for Development of an Engineering Education Platform

Kotarski

Piljek

Pranjic

et al. 2021

Sensors

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show abstract

“…The contributions of this paper are a consequence of previously published works by the authors, which have been studied for a long time. The main area of research concerns the aerial vehicle, coming from traditional multi-rotors to tilt-rotors, modeling, fault-tolerant control, controller design and tuning, and electromagnetic inference on the UAVs, among others [16,29,30,[39][40][41][42][43][44][45][46].…”

Section: Contributionsmentioning

confidence: 99%

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Lopes

Honório

Santos

et al. 2023

Drones

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It is known that new power transmission line inspection techniques have been developed over the last few years with great potential to improve and, in some cases, even replace traditional inspection procedures such as using helicopters and cars. A series of Unmanned Aerial Vehicles (UAVs) such as fixed-wing or rotary-wing UAVs, and vehicles that climb on the power transmission line, promise to revolutionize the inspection market. In this light, at least 39 new research studies and/or products have been conducted and/or introduced to the market, respectively. However, in an incipient way, some works point to the fusion of some technologies: the development of multi-rotor UAVs and the ability to connect and move over the power transmission line. In line with this, the current work was proposed, with significant unprecedented advances (such as an over-actuated control capacity with tilt rotors, the capability of a displacement in the angle, and the maintenance of active motors on the power transmission line), and the design, modeling, and control of an over-actuated UAV able to move over the conductor cable without the need for a new locomotion system is presented. The aircraft allows for a greater response and the indispensable ability to approximate landing in a power transmission line arbitrary position rather than the catenary lowest point (due to its ability to forward/backward move using the tilting rotors). Its design is detailed, its subsystems are described, and its normal and coupled flight mode dynamics are modeled. The results show good stability and reliable maneuvers for the coupling-to-power-transmission-line flight mode, without any overshoots, and the ability to follow the entire catenary through different Real Control Action (RCA) sets.

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“…UAV angular stability in three degrees of freedom, in terms of rolling, pitching, and yawing was the target measurement of the gyroscopic test bench developed in [94]. The platform consists of a gyroscopic support including a base where a ring-shaped structure is fastened and attached to a pivotal coupling, used as the UAV placement basis [94]. The test bench makes the UAV able to rotate in all directions.…”

Section: Ground Testmentioning

confidence: 99%

“…It is possible to place the center of gravity of the UAV at a lower height with respect to the gyroscopic base rotation axis of the system to be stable, as it functions as a simple pendulum, returning to its rest position or regulating the height to create both marginally stable (when the center of gravity position coincides with the rotation axis) and unstable (when the center of gravity is above the system rotation axis and operates as an inverted pendulum) conditions. In this way, it can be observed and manipulated the behavior of under or overactuated UAVs in adverse conditions [94].…”

Section: Ground Testmentioning

confidence: 99%

Sensors and Measurements for UAV Safety: An Overview

Balestrieri

Daponte

Vito

et al. 2021

Sensors

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Unmanned aerial vehicles’ (UAVs) safety has gained great research interest due to the increase in the number of UAVs in circulation and their applications, which has inevitably also led to an increase in the number of accidents in which these vehicles are involved. The paper presents a classification of UAV safety solutions that can be found in the scientific literature, putting in evidence the fundamental and critical role of sensors and measurements in the field. Proposals from research on each proposed class concerning flight test procedures, in-flight solutions including soft propeller use, fault and damage detection, collision avoidance and safe landing, as well as ground solution including testing and injury and damage quantification measurements are discussed.

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Experimental Validation of Quadrotors Angular Stability in a Gyroscopic Test Bench

Cited by 14 publications

References 22 publications

A Modular Multirotor Unmanned Aerial Vehicle Design Approach for Development of an Engineering Education Platform

A Modular Multirotor Unmanned Aerial Vehicle Design Approach for Development of an Engineering Education Platform

Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Sensors and Measurements for UAV Safety: An Overview

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