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

Abstract

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.

Special spherical mobile robot for planetary surface exploration: A review

“…Two internal orthogonal rotation frame can make the coaxial propeller tilt to any angle. Santos-Medina G et al 64 proposed a coaxial symmetric two propeller spherical aircraft without control blades (as shown in Figure 14(i)), which has an inner and outer frame similar to Gimball, but it does not control the blades, but controls the direction of the robot through the asynchronous rotation of the upper and lower propellers that can rotate independently. Malandrakis et al 65 studied the coaxial double propeller with three blades (as shown in Figure 14(j)) and proposed a disturbance observer adaptive control algorithm based on neural network.…”

Rotor Mesafesinin ve Kanat Sayısının bir Koaksiyel Rotorun İtkisine, Torkuna ve Gücüne Etkisi

“…al. [19] discussed the design and modeling of a spherical flying robot to control its hovering and omnidirectional mobility by controlling the air mass differential pressure between two asynchronous coaxial rotors that are aligned collinearly. Kim et.…”