Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption
AbstractRecently, there has been a rapid growth of interest in quadrotors with electric variable-pitch propellers. The control and optimization of such propellers are important factors for improving the flight performance of the vehicles. Therefore, the steady-state identification method to estimate the parameters of the mathematical model of the electric variable-pitch propeller is developed. The steady-state control and optimization scheme with minimum power consumption and the adaptive compensation scheme for the variable-pitch propeller are then proposed, based on which the response performance of the lift force produced by the variable-pitch propeller can be greatly improved by using a cascade compensation scheme. Furthermore, the direct lift-based flight control strategy is presented, which can significantly contribute to the improvement of the flight performance, precisely because the roll, pitch, yaw and vertical channels of the variable-pitch quadrotor are approximately linearized and completely decoupled from each other in this case. The experimental results demonstrate that both the endurance performance and the positioning accuracy of the variable-pitch quadrotor are improved simultaneously by using the proposed method with minimum power consumption. View Full-Text
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Sheng, S.; Sun, C. Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption. Energies 2016, 9, 232.
Sheng S, Sun C. Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption. Energies. 2016; 9(4):232.Chicago/Turabian Style
Sheng, Shouzhao; Sun, Chenwu. 2016. "Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption." Energies 9, no. 4: 232.
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