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Article

An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs

1
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong
2
Interdisciplinary Division of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(19), 5651; https://doi.org/10.3390/s20195651
Received: 28 August 2020 / Revised: 29 September 2020 / Accepted: 29 September 2020 / Published: 2 October 2020
(This article belongs to the Section Sensors and Robotics)
This paper presents a control allocation method for enhancing the attitude following performance and the energy efficiency of a variable-pitch propeller (VPP) system on quadrotor-based unmanned aerial vehicles. The VPP system was modeled according to the blade element momentum (BEM) theory, and an actuator allocation method was developed with the aim of enhancing the attitude control and energy performance. A simulation environment was built to validate the VPP system by creating a thrust and moment database from the experiments. A four-motor variable-pitch quadrotor was built for verifying the proposed method. The control allocation method was firstly verified in a simulation environment, and was then implemented in a flight controller for indoor flight experiments. The simulation results show the proposed control allocation method greatly improves the yaw following performance. The experimental results demonstrate a difference in the energy consumption through various pitch angles, as well as a reduction in energy consumption, by applying this VPP system. View Full-Text
Keywords: unmanned aerial vehicle (UAV); actuator allocation; variable-pitch propeller; flight experiment; Simulink simulation unmanned aerial vehicle (UAV); actuator allocation; variable-pitch propeller; flight experiment; Simulink simulation
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MDPI and ACS Style

Chang, C.-W.; Chen, S.; Wen, C.-Y.; Li, B. An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs. Sensors 2020, 20, 5651. https://doi.org/10.3390/s20195651

AMA Style

Chang C-W, Chen S, Wen C-Y, Li B. An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs. Sensors. 2020; 20(19):5651. https://doi.org/10.3390/s20195651

Chicago/Turabian Style

Chang, Ching-Wei; Chen, Shengyang; Wen, Chih-Yung; Li, Boyang. 2020. "An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-Based UAVs" Sensors 20, no. 19: 5651. https://doi.org/10.3390/s20195651

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