Performance Prediction of Multirotor Vehicles Using A Higher Order Potential Flow Method

Barcelos, Devin F.; Kolaei, Amir; Bramesfeld, Goetz

doi:10.2514/6.2018-1528

Cited by 7 publications

(3 citation statements)

References 8 publications

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“…In these works, simplified models of quadrotor geometry, rotor thrust, and aerodynamics were used to derive equations of motion. Such physics-based models have been further refined by deriving more complex aerodynamic models [7] or by using blade element momentum theory [18] [19] to better characterize motor thrust. While many such models obtain parameter values through empirical measurement or offline system identification, recent works have used online parameter estimation to refine their physics-based models over time [20] [21] [22].…”

Section: Related Workmentioning

confidence: 99%

Temporal Convolutions for Multi-Step Quadrotor Motion Prediction

Looper¹,

Waslander²

2021

Preprint

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Model-based control methods for robotic systems such as quadrotors, autonomous driving vehicles and flexible manipulators require motion models that generate accurate predictions of complex nonlinear system dynamics over long periods of time. Temporal Convolutional Networks (TCNs) can be adapted to this challenge by formulating multi-step prediction as a sequence-to-sequence modeling problem. We present End2End-TCN: a fully convolutional architecture that integrates future control inputs to compute multi-step motion predictions in one forward pass. We demonstrate the approach with a thorough analysis of TCN performance for the quadrotor modeling task, which includes an investigation of scaling effects and ablation studies. Ultimately, End2End-TCN provides 55% error reduction over the state of the art in multi-step prediction on an aggressive indoor quadrotor flight dataset. The model yields accurate predictions across 90 timestep horizons over a 900 ms interval.

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Section: Related Workmentioning

confidence: 99%

Temporal Convolutions for Multi-Step Quadrotor Motion Prediction

Looper¹,

Waslander²

2021

Preprint

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“…For small multirotor vehicles that operate at relatively low chord-Reynolds numbers, the characteristics of transitional flows become essential when evaluating their aerodynamic performance. [1][2][3][4] For example, the extent to which laminar flow may cover a significant part of a rotor blade of a small multirotor vehicle can considerably impact the required power and the respected flight endurance. Extended laminar flow generally also leads to higher maximum lift coefficients, which can improve the rotor performance in hover.…”

Section: Introductionmentioning

confidence: 99%

A FEniCS-based model for prediction of boundary layer transition in low-speed aerodynamic flows

Kolaei

Bramesfeld

2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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In the paper, a finite element model is developed that predicts boundary layer transition in low-speed aerodynamic flows. The model is based on a Reynolds-averaged Navier-Stokes approach, where the incompressible form of the Navier-Stokes equations is solved together with a three-equation eddy-viscosity model utilizing the FEniCS framework. A least-square stabilized Galerkin method is employed in order to prevent numerical oscillations that can arise from dominant advection terms. The proposed FEniCS model is ideal for applications with complex geometries and is tested on high performance computing platforms for parallel processing. The FEniCS model is validated by comparing the skin friction coefficient as well as profiles of velocity and total fluctuation kinetic energy with the benchmark experimental data for transitional boundary layers on a flat plate. The validity of the solver is further examined using experimental measurements reported for a NLF(1)-0416 natural laminar flow airfoil at different angles of attack. The airfoil results are also compared with those obtained using XFOIL, a well-known tool for the design of two-dimensional airfoils. These comparisons suggest that the proposed FEniCS-based model can effectively simulate aerodynamic flow fields that involve laminar-to-turbulent transition.

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“…structure behind a rigid rotor in forward flight may be of use to multicopter designers 429 when considering rotor-wake interactions, such as determining the optimal rotation 430 directions of the rotors or the best orientation of the vehicle for forward flight. Research 431 of this nature has been conducted by Barcelos et al[33] and Misiorowski et al[5].…”

mentioning

confidence: 99%

Transient Thrust Analysis of Rigid Rotors in Forward Flight

2022

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The purpose of this study was to investigate and quantify the transient thrust response of two small rigid rotors in forward flight. This was accomplished using a distributed doublet-based potential flow method, which was validated against wind-tunnel experimentation and a transient CFD analysis. The investigation showed that for both rotors, advancing and retreating blade effects were predicted to contribute to transient thrust amplitudes of 5–30% of the mean rotor thrust. The thrust output amplitudes of individual rotors blades were observed to be 15–45% of the mean rotor thrust, indicating that it is not uncommon for the thrust output variation of an individual rotor blade to approach the same value as the mean thrust output of the rotor itself. In addition to this, the theoretical analysis also illustrated that higher blade thrust oscillations resulted in pronounced asymmetric rotor wake structures.

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Performance Prediction of Multirotor Vehicles Using A Higher Order Potential Flow Method

Cited by 7 publications

References 8 publications

Temporal Convolutions for Multi-Step Quadrotor Motion Prediction

Temporal Convolutions for Multi-Step Quadrotor Motion Prediction

A FEniCS-based model for prediction of boundary layer transition in low-speed aerodynamic flows

Transient Thrust Analysis of Rigid Rotors in Forward Flight

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