E-MASS: Electromagnetic Mechanism for Active Shifting of the Centre of Gravity in Quadrotors Under Drive Fault

We present a novel concept of an electromagnetic mechanism for shifting the centre of gravity (CoG) in a small unmanned aerial vehicle with four rotors (quadrotor). Shifting the CoG is essential for controlling drones in which the thrust is unbalanced (e.g., upon the failure of one of the drives). The concept presented here involves using electromagnetic coils mounted under the drone and moving permanent magnets inside a cylindrical tube. Moving the positions of the masses can be controlled by means of currents in the coils. Changing the position of the magnets relative to the arms of the drone causes a shift in the CoG, allowing for controllability even when one of the four engines is not working, and making it possible for the drone to land safely. This article describes the geometrical and mechanical relationships in the proposed system, the design and numerical calculations of the electromagnetic mechanism with coils and permanent magnets, as well as the results of a simulation of the control variant. Additionally, the practical implementation of the mechanism, from CAD modelling through the manufacturing of its elements to the final structure prepared for mounting on a quadrotor, is discussed.