Reynolds Number Effects on the Performance of Small-Scale Propellers

Deters, Robert W.; Krishnan, Gavin Kumar Ananda; Selig, Michael S.

doi:10.2514/6.2014-2151

Cited by 123 publications

(94 citation statements)

References 10 publications

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“…Also, the 4 × 4 matrix B is a function of the thrust (C T ) and the power coefficients (C P ), which were measured in the aerodynamics test facility at UIUC Deters et al (2014) (see Subramanian (2015) for the plots of C T and C P ).…”

Section: Position Tracking Controllermentioning

confidence: 99%

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming

Morgan

Subramanian

Chung

et al. 2016

The International Journal of Robotics Research

165

153

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This paper presents a distributed, guidance and control algorithm for reconfiguring swarms composed of hundreds to thousands of agents with limited communication and computation capabilities. This algorithm solves both the optimal assignment and collision-free trajectory generation for robotic swarms, in an integrated manner, when given the desired shape of the swarm (without pre-assigned terminal positions). The optimal assignment problem is solved using a distributed auction assignment that can vary the number of target positions in the assignment, and the collision-free trajectories are generated using sequential convex programming. Finally, model predictive control is used to solve the assignment and trajectory generation in real time using a receding horizon. The model predictive control formulation uses current state measurements to resolve for the optimal assignment and trajectory. The implementation of the distributed auction algorithm and sequential convex programming using model predictive control produces the Swarm Assignment and Trajectory Optimization (SATO) algorithm that transfers a swarm of robots or vehicles to a desired shape in a distributed fashion. Once the desired shape is uploaded to the swarm, the algorithm determines where each robot goes and how it should get there in a fuel-efficient, collision-free manner. Results of flight experiments using multiple quadcopters show the effectiveness of the proposed SATO algorithm.

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Section: Position Tracking Controllermentioning

confidence: 99%

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming

Morgan

Subramanian

Chung

et al. 2016

The International Journal of Robotics Research

165

153

View full text Add to dashboard Cite

show abstract

“…With reference made to Equations (12) and (14) for incorporating the lift-weight balance, and to Equation (25) for incorporating the drag, the power relation Equation (5) For C Ldo = const, the following result is obtained for the induced drag factor described by Equation (26) in the case of equal down-and upstroke lengths…”

Section: Power Requirements Of Flapping Wing Vehiclesmentioning

confidence: 99%

Comparison of Power Requirements: Flapping vs. Fixed Wing Vehicles

Sachs

2016

Aerospace

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Abstract:The power required by flapping and fixed wing vehicles in level flight is determined and compared. Based on a new modelling approach, the effects of flapping on the induced drag in flapping wing vehicles are mathematically described. It is shown that flapping causes a significant increase in the induced drag when compared with a non-flapping, fixed wing vehicle. There are two effects for that induced drag increase; one is due to tilting of the lift vector caused by flapping the wings and the other results from changes in the amount of the lift vector during flapping. The induced drag increase yields a significant contribution to the power required by flapping wing vehicles. Furthermore, the power characteristics of fixed wing vehicles are dealt with. It is shown that, for this vehicle type, the propeller efficiency plays a major role. This is because there are considerable differences in the propeller efficiency when taking the size of vehicles into account. Comparing flapping and fixed wing vehicles, the conditions are shown where flapping wing vehicles have a lower power demand and where fixed wing vehicles are superior regarding the required power. There is a tendency such that fixed wing vehicles have an advantage in the case of larger size vehicles and flapping wing vehicles have an advantage in the case of smaller size ones.

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“…Therefore, the thrust generated by a propeller can be found if the propeller's rotational speed and coefficient of thrust is known. The relationship between the torque generated by a propeller, Q i and the propeller's rotational velocity, ω i can be expressed in equation (46) as referenced from [25]. Although the torque coefficient, C Q was not determined directly in the experiments conducted by UIUC, it is related to the power coefficient, C P shown in equation (44).…”

Section: Figure 20 Apc 10" By 47" Propeller Set (From [23])mentioning

confidence: 99%

“…The University of Illinois at Urbana-Champaign (UIUC) had performed a series of experiments as described in [24] and [25] to determine the performance of different small-scale propellers at low Reynolds number. The experimental results for the APC propeller of dimension 10" by 4.7" were summarized in Table 9, while the plots for the thrust and power coefficients against the propeller speed are shown in Figure 21 and Figure 22.…”

Section: Figure 20 Apc 10" By 47" Propeller Set (From [23])mentioning

confidence: 99%

Implementation Of Simulink Controller Design On IRIS+ Quadrotor

Fum¹

2015

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington ABSTRACT (maximum 200 words)The thesis has two primary objectives. First, it develops a high-fidelity 6DOF flight dynamics model of a multi-copter UAV, and uses it for the design and implementation of the linear attitude controller onboard of an industrial quadcopter; both steps are implemented in Simulink. Second, it leverages the weakly joint efforts of MathWorks and the open-source community to build a software setup that enables rapid control software prototyping. This software architecture enables control system design and integration without the need for proficiency in embedded coding that typically utilizes high-level programming languages like C/C++. The higher impact of the dual objective is in advancing methods and tools of verifiable control system design and the embedded code generation that simplifies the V&V process.The 3DR Iris+ quadrotor, equipped with PX4 "Pixhawk" autopilot, is selected as the primary prototyping platform. The autopilot allows for the real-time execution of an application (attitude controller) that is autogenerated from MatLab/Simulink. This makes the Iris+ quadrotor an ideal platform for rapid flight control prototyping by using MathWork's auto code generation capability.Ultimately, the developed setup represents a convenient research and development tool that natively bridges the gap between the safety-critical flight control science and flight experimentation technology by "eliminating" the error-prone manual coding of embedded microcontrollers. Submitted in partial fulfillment of the requirements for the degree of SUBJECT TERMS MASTER OF SCIENCE IN MECHANICAL ENGINEERINGfrom the NAVAL POSTGRADUATE SCHOOL September 2015Approved The 3DR Iris+ quadrotor, equipped with PX4 "Pixhawk" autopilot, is selected as the primary prototyping platform. The autopilot allows for the realtime execution of an application (attitude controller) that is auto-generated from MatLab/Simulink. This makes the Iris+ quadrotor an ideal platform for rapid flight control prototyping by using MathWork's auto code generation capability.

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Reynolds Number Effects on the Performance of Small-Scale Propellers

Cited by 123 publications

References 10 publications

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming

Comparison of Power Requirements: Flapping vs. Fixed Wing Vehicles

Implementation Of Simulink Controller Design On IRIS+ Quadrotor

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