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| Autores principales: | , , |
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| Formato: | Preprint |
| Publicado: |
2023
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2301.00730 |
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| _version_ | 1866914278341083136 |
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| author | Quan, Quan Shuai, Wang Wenhan, Gao |
| author_facet | Quan, Quan Shuai, Wang Wenhan, Gao |
| contents | Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2301_00730 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Lifting-wing Quadcopter Modeling and Unified Control Quan, Quan Shuai, Wang Wenhan, Gao Robotics Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller. |
| title | Lifting-wing Quadcopter Modeling and Unified Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2301.00730 |