Modelling and Control of Proposed Two Dodecacopter Systems

Yıl 2020, Cilt: 8 Sayı: 2, 34 - 38, 30.06.2020

Şahin Yıldırım Nihat Çabuk Veli Bakırcıoğlu

https://doi.org/10.18100/ijamec.698462

Cited By: 1

Öz

Nowadays, the use of multi-propellers has been increased, because of some basic advantages such as vertical take-off and landing, simple mechanical structure. In addition, different usage fields such as carrying an object and making video records over the cities. This paper exposes design and control of two different multi propeller systems and both systems have 12 rotors to carry more load. In first, all motors are arranged at identical angles in the same plane. In the other, the motors are mounted in two groups, eight and four in two different planes, the lower and upper. Flight performances of these two different UAVs were compared under disturbing effect. It was observed that the flight performances were close in the simulation study. Although the average and maximum of the position errors for three axes in the first model was less than the other, for the same propeller dimensions, the first model must have larger dimensions than the other in the context of the smallest vehicle dimensions.

Anahtar Kelimeler

Design, Modelling, Simulation, Multirotor UAV

Destekleyen Kurum

Erciyes University

Proje Numarası

FBA-2017-7393

Teşekkür

This study is supported by Erciyes University Scientific Research Projects Unit within the scope of FBA-2017-7393 project.

Kaynakça

• J. Verbeke, D. Hulens, H. Ramon, T. Goedeme, and J. De Schutter, “The design and construction of a high endurance hexacopter suited for narrow corridors,” 2014 Int. Conf. Unmanned Aircr. Syst. ICUAS 2014 - Conf. Proc., pp. 543–551, 2014.
• T. Kim and S. Hong, “Control System Design and Experimental Validation of Hybrid Multicopter for Endurance Enhancement,” Asia-pacific J. Model. Simul. Mech. Syst. Des. Anal., vol. 2, no. 1, pp. 15–20, 2017.
• K. Orman, K. Can, A. Başcı, and A. Derdiyok, “Applied Mathematics , Electronics and Computers Real-Time Speed Control of BLDC Motor Based On Fractional Sliding Mode Controller,” vol. 4, pp. 314–318, 2016.
• Tom, “The 9 Best Lipo Batteries for RC Cars or Quadcopter in 2019 - Reviews,” 2018. [Online]. Available: https://rctopgeek.com/best-lipo-battery/. [Accessed: 02-Apr-2019].
• J. M. Selfridge and G. Tao, “A multivariable adaptive controller for a quadrotor with guaranteed matching conditions,” Syst. Sci. Control Eng., vol. 2, no. 1, pp. 24–33, 2014.
• X. Shao, J. Liu, H. Cao, C. Shen, and H. Wang, “Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer,” Int. J. Robust Nonlinear Control, 2018.
• M. Bangura and R. Mahony, “Thrust Control for Multirotor Aerial Vehicles,” IEEE Trans. Robot., vol. 33, no. 2, pp. 390–405, 2017.
• W. Ong, S. Srigrarom, and H. Hesse, “Design methodology for heavy-lift unmanned aerial vehicles with coaxial rotors,” AIAA Scitech 2019 Forum, vol. 9781624105, no. January, pp. 7–11, 2019.
• M. Hassanalian and A. Abdelkefi, “Classifications, applications, and design challenges of drones: A review,” Prog. Aerosp. Sci., vol. 91, no. May, pp. 99–131, May 2017.
• S. Zabunov and G. Mardirossian, “Innovative Dodecacopter Design – Bulgarian Knight,” Int. J. Aviat. Aeronaut. Aerosp., vol. 5, no. 4, 2018.
• A. Modirrousta and M. Khodabandeh, “A novel nonlinear hybrid controller design for an uncertain quadrotor with disturbances,” Aerosp. Sci. Technol., vol. 45, pp. 294–308, Sep. 2015.
• T. Oktay and O. Köse, “Farkli Uçuş Durumlari Için Quadcopter Dinamik Modeli ve Simulasyonu,” Eur. J. Sci. Technol., no. 15, pp. 132–142, 2019.
• J. J. Sofonia, S. Phinn, C. Roelfsema, F. Kendoul, and Y. Rist, “Modelling the effects of fundamental UAV flight parameters on LiDAR point clouds to facilitate objectives-based planning,” ISPRS J. Photogramm. Remote Sens., vol. 149, no. August 2018, pp. 105–118, 2019.
• G.-X. Du and Q. Quan, “Optimization of Multicopter Propulsion System Based on Degree of Controllability,” J. Aircr., vol. 56, no. 5, pp. 2062–2069, 2019.
• B. P. De Carvalho, “A Framework for Energy Efficient UAV Trajectory Planning,” Concordia University, 2018.
• H. Xiu, T. Xu, A. H. Jones, G. Wei, and L. Ren, “A reconfigurable quadcopter with foldable rotor arms and a deployable carrier,” in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, vol. 2018-Janua, pp. 1412–1417.
• C. E. Lin et al., “Engine controller for hybrid powered dual quad-rotor system,” in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, 2015, pp. 001513–001517.
• Ş. Yıldırım, N. Çabuk, and V. Bakırcıoğlu, “Design and trajectory control of universal drone system,” Measurement, vol. 147, p. 106834, Dec. 2019.
• E. Kuantama, R. Tarca, S. Dzitac, I. Dzitac, T. Vesselenyi, and I. Tarca, “The Design and Experimental Development of Air Scanning Using a Sniffer Quadcopter,” Sensors, vol. 19, no. 18, p. 3849, Sep. 2019.
• A. Chovancová, T. Fico, E. Chovanec, and P. Hubinský, “Mathematical modelling and parameter identification of quadrotor (a survey),” Procedia Eng., vol. 96, pp. 172–181, 2014.