1 research outputs found
Optimal-power Configurations for Hover Solutions in Mono-spinners
Rotary-wing flying machines draw attention within the UAV community for their
in-place hovering capability, and recently, holonomic motion over fixed-wings.
In this paper, we investigate about the power-optimality in a mono-spinner,
i.e., a class of rotary-wing UAVs with one rotor only, whose main body has a
streamlined shape for producing additional lift when counter-spinning the
rotor. We provide a detailed dynamic model of our mono-spinner. Two
configurations are studied: (1) a symmetric configuration, in which the rotor
is aligned with the fuselage's COM, and (2) an asymmetric configuration, in
which the rotor is located with an offset from the fuselage's COM. While the
former can generate an in-place hovering flight condition, the latter can
achieve trajectory tracking in 3D space by resolving the yaw and precession
rates. Furthermore, it is shown that by introducing a tilting angle between the
rotor and the fuselage, within the asymmetric design, one can further minimize
the power consumption without compromising the overall stability. It is shown
that an energy optimal solution can be achieved through the proper aerodynamic
design of the mono-spinner for the first time.Comment: 6 pages, 7 figure