Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings
AbstractThis paper presents the modeling, control design, and efficiency analysis of a micro-quadrotor aerial vehicle with airfoils. We derive the equations of motion for a micro-quadrotor (length 0.15 m and mass 0.03 kg) outfitted with two symmetric airfoils that generate lift during forward transit. A trim analysis is presented to determine nominal flight conditions. Analysis of the model facilitates design of a controller that stabilizes the modified quadrotor through transitions from hover to forward fixed-wing flight. The performance of the design and control approach is analyzed through a series of typical flight profile simulations. The controller is able to track a velocity trajectory in the presence of aerodynamic uncertainties. The simulations are also used to determine the efficiency of the aircraft compared to a standard quadrotor. Results suggest that, during forward flight, the airfoils result in up to a 35% energy savings depending on the aspect ratio and forward speed of the vehicle. Added airfoil weight, however, causes a 45% energy loss during hover. These results indicate that the neutral benefit speed is in the range 3–5 m/s depending on the aspect ratio of the airfoil, which is suggestive of mission flight profiles that best utilize the added benefit of airfoils on a micro-quadrotor. View Full-Text
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Dawkins, J.; DeVries, L. Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings. Drones 2018, 2, 21.
Dawkins J, DeVries L. Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings. Drones. 2018; 2(2):21.Chicago/Turabian Style
Dawkins, Jeremy; DeVries, Levi. 2018. "Modeling, Trim Analysis, and Trajectory Control of a Micro-Quadrotor with Wings." Drones 2, no. 2: 21.
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