| _version_ | 1866901630166761472 |
|---|---|
| author | Aroussi, Mohammed |
| author_facet | Aroussi, Mohammed |
| contents | <p><strong>Abstract</strong><br>This manuscript, <em>Design and Control of Power Transmission System for Dual-Engine Variable-Pitch Multirotor UAV</em>, presents a fully integrated dual-engine variable-pitch power transmission architecture with real-time fault detection and rapid reconfiguration. The design uses a modular belt-gear coupling and a supervisory control algorithm to allocate torque and redistribute power following faults. Experimental ground and flight tests demonstrate fault detection and correction within 85 ms, thrust error below 4.3%, attitude variation within ±2.8°, and fault-tolerant flight endurance beyond 15 minutes in emergency scenarios. The architecture combines mechanical redundancy, high-precision gearing (DIN Class 6), composite-wrapped drive shafts, and an adaptive control strategy to improve reliability and mission survivability compared with conventional single-engine multirotor designs.</p> <p><strong>Methods</strong><br>The study combines CAD/FEA structural design, modular gearbox prototype bench tests, and MATLAB/Simulink control simulations. A multi-sensor fusion approach (IMU, torque sensors, vibration and temperature monitoring) is used for state estimation and Kalman-filter-based fault detection. Control logic integrates PID, fuzzy techniques, and model-predictive elements to synchronise dual-engine outputs and coordinate variable-pitch actuation. Performance metrics were assessed via static bench tests and flight trials on a hexacopter platform with a 500 Hz sampling loop.</p> <p><strong>Key contributions</strong></p> <ul> <li> <p>A novel redundant mechanical power transmission architecture for dual-engine multirotor UAVs.</p> </li> <li> <p>Detailed design and FEA validation of a modular gearbox and composite drive shaft.</p> </li> <li> <p>A supervisory control algorithm enabling power reallocation and variable-pitch coordination with sub-100 ms switching.</p> </li> <li> <p>Prototype test and flight validation demonstrating improved fault tolerance, thrust precision, and attitude stability.</p> </li> </ul> <p><strong>Results & performance</strong><br>Bench and flight tests report transmission efficiency ≥92.5%, pitch response ≈38 ms, thrust adjustment error ≈4.3%, attitude control error within ±2.8°, and fault compensation completed in ~85–100 ms across fault scenarios. Fault-scenario tables and parametric analyses are included in the full text.</p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_16878441 |
| institution | Zenodo |
| language | eng |
| publishDate | 2025 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Design and Control of Power Transmission System for Dual-Engine Variable-Pitch Multirotor UAV Aroussi, Mohammed multirotor UAV; dual-engine; redundant power transmission; variable-pitch; fault-tolerant control; UAV propulsion; mechanical design <p><strong>Abstract</strong><br>This manuscript, <em>Design and Control of Power Transmission System for Dual-Engine Variable-Pitch Multirotor UAV</em>, presents a fully integrated dual-engine variable-pitch power transmission architecture with real-time fault detection and rapid reconfiguration. The design uses a modular belt-gear coupling and a supervisory control algorithm to allocate torque and redistribute power following faults. Experimental ground and flight tests demonstrate fault detection and correction within 85 ms, thrust error below 4.3%, attitude variation within ±2.8°, and fault-tolerant flight endurance beyond 15 minutes in emergency scenarios. The architecture combines mechanical redundancy, high-precision gearing (DIN Class 6), composite-wrapped drive shafts, and an adaptive control strategy to improve reliability and mission survivability compared with conventional single-engine multirotor designs.</p> <p><strong>Methods</strong><br>The study combines CAD/FEA structural design, modular gearbox prototype bench tests, and MATLAB/Simulink control simulations. A multi-sensor fusion approach (IMU, torque sensors, vibration and temperature monitoring) is used for state estimation and Kalman-filter-based fault detection. Control logic integrates PID, fuzzy techniques, and model-predictive elements to synchronise dual-engine outputs and coordinate variable-pitch actuation. Performance metrics were assessed via static bench tests and flight trials on a hexacopter platform with a 500 Hz sampling loop.</p> <p><strong>Key contributions</strong></p> <ul> <li> <p>A novel redundant mechanical power transmission architecture for dual-engine multirotor UAVs.</p> </li> <li> <p>Detailed design and FEA validation of a modular gearbox and composite drive shaft.</p> </li> <li> <p>A supervisory control algorithm enabling power reallocation and variable-pitch coordination with sub-100 ms switching.</p> </li> <li> <p>Prototype test and flight validation demonstrating improved fault tolerance, thrust precision, and attitude stability.</p> </li> </ul> <p><strong>Results & performance</strong><br>Bench and flight tests report transmission efficiency ≥92.5%, pitch response ≈38 ms, thrust adjustment error ≈4.3%, attitude control error within ±2.8°, and fault compensation completed in ~85–100 ms across fault scenarios. Fault-scenario tables and parametric analyses are included in the full text.</p> |
| title | Design and Control of Power Transmission System for Dual-Engine Variable-Pitch Multirotor UAV |
| topic | multirotor UAV; dual-engine; redundant power transmission; variable-pitch; fault-tolerant control; UAV propulsion; mechanical design |
| url | https://doi.org/10.5281/zenodo.16878441 |