5 research outputs found
A Unified Approach to Configuration-based Dynamic Analysis of Quadcopters for Optimal Stability
A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called
Quadcopter have prevailed to the civilian use for the past decade. They have
gained significant amount of attention within the UAV community for their
redundancy and ease of control, despite the fact that they fall under an
under-actuated system category. They come in a variety of configurations. The
"+" and "x" configurations were introduced first. Literature pertinent to these
two configurations is vast. However, in this paper, we define 6 additional
possible configurations for a Quadcopter that can be built under either "+" or
"x" setup. These configurations can be achieved by changing the angle that the
axis of rotation for rotors make with the main body, i.e., fuselage. This would
also change the location of the COM with respect to the propellers which can
add to the overall stability. A comprehensive dynamic model for all these
configurations is developed for the first time. The overall stability for these
configurations are addressed. In particular, it is shown that one configuration
can lead to the most statically-stable platform by adopting damping motion in
Roll/Pitch/Yaw, which is described for the first time to the best of our
knowledge.Comment: 6 page, 9 figure
Propeller Performance In Presence Of Freestream
This paper presents mathematical modeling for thrust force and moments generated by a propeller. In particular, the effects of freestream on propeller’s performance are investigated. We introduce some of the applications of the proposed model in modeling multi-rotor UAVs which helps to increase stability or maneuverability of the vehicle. In the end, simulation results for thrust force and moments of an example propeller in presence of a uniform freestream are presented
Proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress
Published proceedings of the 2018 Canadian Society for Mechanical Engineering (CSME) International Congress, hosted by York University, 27-30 May 2018