Hybrid Analysis for Quadrotor Type UAV and Modified Blade Element Momentum Theory Considering Gust and Flight Condition

Park, Sunhoo; Eun, WonJong; Shin, Sang Joon

doi:10.2514/6.2019-1329

Cited by 4 publications

(5 citation statements)

References 12 publications

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“…Each component of the electric quadrotor system is modeled in the previous section. In this section, the dynamic responses of the electric quadrotor system in 1-cos 46 wind disturbance and Von Karman 47 wind disturbance are simulated respectively. In simulation, the disturbance wind blows from the sideward of the Quad-Plane because based on engineering applications, it is assumed that when Quad-Plane works in quadrotor mode, the crosswind gives Quad-Plane the most severe asymmetric disturbance.…”

Section: Target Quad-planementioning

confidence: 99%

Dynamic modeling, simulation, and parameter study of electric quadrotor system of Quad-Plane UAV in wind disturbance environment

Song

et al. 2021

International Journal of Micro Air Vehicles

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Quad-Plane UAV(quadrotor fixed-wing hybrid vertical take-off and landing Unmanned Aerial Vehicle) is vulnerable to wind disturbance in quadrotor mode, and the performance of the electric quadrotor system directly affects its wind disturbance rejection performance. To study and optimize the wind disturbance rejection performance of the electric quadrotor system of Quad-Plane precisely and efficiently, a dynamic electric quadrotor simulation system integrating high-precision submodels of electric quadrotor system components is required. However, there are few papers on this kind of simulation system. This paper proposed a simulation system with both high computational efficiency and precision, and it can be used in optimization and flight simulation of Quad-Plane. The simulation system includes submodels of rotor, brushless direct current (BLDC) motor, electronic speed controller (ESC), and Li-ion Polymer battery. The surrogate-based rotor model is established to calculate the aerodynamic performance of the rotor in oblique flow. The BLDC motor performance calculation model considering inductance is presented and the power loss of the ESC is considered. The discharge characteristics of the battery are modeled considering the rate capacity effect. All submodels are validated and the simulation results show good agreements with test data. A flight test of Quad-Plane in quadrotor mode is conducted to validate the integrated dynamic simulation system. The results show that the simulation system has the advantages of high computational efficiency and precision. Based on the simulation system, the influence of the electric quadrotor system parameters on the performance of the electric quadrotor system, and furthermore on the wind disturbance rejection performance of the Quad-Plane are found, the conclusions are helpful to the selection and optimization of the electric quadrotor system components.

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Section: Target Quad-planementioning

confidence: 99%

Dynamic modeling, simulation, and parameter study of electric quadrotor system of Quad-Plane UAV in wind disturbance environment

Song

et al. 2021

International Journal of Micro Air Vehicles

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“…Hence, the studies on the aerodynamics characteristics of the multirotor body and rotating propeller are carried out via wind tunnel tests [3] and Computational Fluid Dynamics (CFD) [4]. In addition, the mathematical modeling of the rotating propeller is developed by utilizing the established rotorcraft dynamics [5][6][7][8].…”

Section: Introductionmentioning

confidence: 99%

“…The standard six Degree of Freedom (6DOF) dynamics is modeled by Newton's 2nd law and the air surrounding dynamics is derived considering the relative wind effect from initially referenced dynamics. The Blade Element Momentum Theory (BEMT) incorporating blade lelement theory and momentum theory is utilized on the thrust force modeling to investigate aerodynamic forces and moments acting on the multirotor UAV [6,8]. The conventional SMC is then designed by utilizing a cascaded control structure: position and attitude loops.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling of Multirotor type UAV with the Blade Element Momentum Theory and Nonlinear Controller Design for a Wind Environment

Park,

Shin

2024

AIAA SCITECH 2024 Forum

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This paper presents an aerodynamics modeling of a rotary type Vertical Take-Off and Landing (VTOL) aircraft using the Blade Element Momentum Theory (BEMT). The BEMT is incorporated into the rigid body dynamics to describe main force and its reactive torque by rotor of the multirotor UAV. The dynamics modeling can demonstrate the motion of the multirotor UAV in the presence of gust or wind in an unsteady environment effectively. In order to operate the multirotor UAV, a robust nonlinear control technique is designed to track the desired command and stabilize the UAV subject to uncertainties such as modeling error, external disturbances. The hierarchical Sliding Mode Control (SMC) is adopted to organize a multi-loop structure: the outer-loop and inner-loop mode. Actual control input is distributed by physical configuration of the multirotor UAV with the described thrust and torque modeling by the BEMT in the control allocation. Numerical simulation evaluates the feasibility of the dynamic modeling of the multrirotor UAV with BEMT in the presence of external wind effects, which enables to understand a motion of rotary type UAV in a windy environment.

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“…UAVs are increasingly widely used in cities, mountainous areas, highlands, and other areas with unstable wind conditions. The impact of the wind disturbance on UAV has become more and more significant [18][19][20][21] and has gradually become the main cause of UAV crashes [22], especially in VTOL mode, the Quad-Plane is easily affected by near-ground wind disturbance, so it is difficult to maintain its stability in the air, not to mention completing the mission. Moreover, it might even crash.…”

Section: Introductionmentioning

confidence: 99%

“…In References [32,33], the blade element momentum theory (BEMT) is adopted to model the thrust and torque of the rotor, and the influence of the tilted rotor disk on reducing the pitching moment of the quadrotor UAV is studied. Park et al [22] established a 6-DoF simulation model of the quadrotor considering gust and flight conditions, calculated the performance of the rotor by means of BEMT considering the rigid blade flapping, and obtained the control parameters of the quadrotor through system identification. Galway et al [34] studied the effects of urban gusts on the flight performance of Aerosonde UAV.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Simulation and Conceptual Layout Study on a Quad-Plane in VTOL Mode in Wind Disturbance Environment

Song

et al. 2022

International Journal of Aerospace Engineering

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Quadrotor fixed-wing hybrid vertical take-off and landing (VTOL) UAV, the so-called Quad-Plane, is susceptible to wind disturbance during the VTOL mode, which reduces its stability and limits its application. In order to dynamically analyze its response characteristics to wind disturbance and effectively optimize the wind disturbance rejection performance in VTOL mode, a dynamic flight simulation system based on the 6-DoF equations is established, in which the aerodynamic model of the Quad-Plane is established based on the wind tunnel test, the axial and lateral forces and moments of the rotor in wind disturbance are obtained through CFD simulation, and the Brushless DC (BLDC) motor, wind disturbance, and flight controller are modeled based on actual characteristics. The simulation system is verified and validated by comparing the simulation results with test results of a 5 kg real Quad-Plane. Using this system, the response characteristics of the Quad-Plane to the discrete and continuous wind disturbance are studied. In addition, the influences of major conceptual layout parameters that affect the wind disturbance rejection performance, such as take-off weight, weight distribution, Center of Gravity (CG) position, rotor incline angle, arm length, and arm angle, are studied. Finally, the approaches on designing a Quad-Plane with better wind disturbance rejection performance during the conceptual layout design are presented.

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Hybrid Analysis for Quadrotor Type UAV and Modified Blade Element Momentum Theory Considering Gust and Flight Condition

Cited by 4 publications

References 12 publications

Dynamic modeling, simulation, and parameter study of electric quadrotor system of Quad-Plane UAV in wind disturbance environment

Dynamic modeling, simulation, and parameter study of electric quadrotor system of Quad-Plane UAV in wind disturbance environment

Dynamics Modeling of Multirotor type UAV with the Blade Element Momentum Theory and Nonlinear Controller Design for a Wind Environment

Dynamic Simulation and Conceptual Layout Study on a Quad-Plane in VTOL Mode in Wind Disturbance Environment

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