Wind tunnel testing of a VTOL MAV propeller in tilted operating mode

“…However, even if such a tedious process is followed, the control effectiveness can change during flight. For instance, this can occur due to changes in flight conditions [11] or actuator damage [12]. In order to cope with this, we propose a method to adaptively determine the control effectiveness matrices.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles

Smeur

Chu

Croon

2016

Journal of Guidance, Control, and Dynamics

222

186

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“…Here, a rotorcraft is assumed and the relation between actuator effectiveness and air flow is modeled according to findings on propellors in [44]. Specifically, the following formula was used:…”

Section: Wind Gusts and Actuator Efficiencymentioning

confidence: 99%

Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy

Croon

2016

Bioinspir. Biomim.

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The visual cue of optical flow plays an important role in the navigation of flying insects, and is increasingly studied for use by small flying robots as well. A major problem is that successful optical flow control seems to require distance estimates, while optical flow is known to provide only the ratio of velocity to distance. In this article, a novel, stability-based strategy is proposed for monocular distance estimation, relying on optical flow maneuvers and knowledge of the control inputs (efference copies). It is shown analytically that given a fixed control gain, the stability of a constant divergence control loop only depends on the distance to the approached surface. At close distances, the control loop starts to exhibit self-induced oscillations. The robot can detect these oscillations and hence be aware of the distance to the surface. The proposed stability-based strategy for estimating distances has two main attractive characteristics. First, self-induced oscillations can be detected robustly by the robot and are hardly influenced by wind. Second, the distance can be estimated during a zero divergence maneuver, i.e., around hover. The stability-based strategy is implemented and tested both in simulation and on board a Parrot AR drone 2.0. It is shown that the strategy can be used to: (1) trigger a final approach response during a constant divergence landing with fixed gain, (2) estimate the distance in hover, and (3) estimate distances during an entire landing if the robot uses adaptive gain control to continuously stay on the 'edge of oscillation.'

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“…An experiment was performed in [10], where the Graupner Elektro-Prop 1326.9x5 was placed in a wind tunnel, and the forces and torques produced by the propeller were measured at various rotational speeds and various flow speeds. Khan's model is compared to the experimental results in Fig.…”

Section: A Propeller Modelmentioning

confidence: 99%

“…This scenario has been studied as it applies to single-rotor helicopters [6] [7]. In addition, there have been a few studies on this topic for small propellers in [8][9] [10]. A comparison between these studies was performed in [11].…”

Section: Introductionmentioning

confidence: 99%

Quadrotor control in a wind field

Tran

Bulka

Nahon

2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper investigates the ability of a quadrotor to maneuver in a wind field. A dynamic model of a quadrotor is presented to model its motion. The quadrotor model includes a wind effect model to quantify the effect of wind on the dynamics of a quadrotor. A proportional-integral-derivative (PID) controller is shown as a baseline controller typically used on quadrotors. A LQR controller is then shown as an alternative to a PID controller. These two controllers are compared in a simulation environment using the wind effect model and simulated wind disturbances. Both controllers are found to have similar performance in a wind field, though the LQR controller is found to be easier to tune.

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Wind tunnel testing of a VTOL MAV propeller in tilted operating mode

Cited by 51 publications

References 10 publications

Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles

Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles

Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy

Quadrotor control in a wind field

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