A New Style Tilt-Quadrotor:Modeling and Exploration of its Dynamical Characteristics
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- 英文论文题名：A New Style Tilt-Quadrotor:Modeling and Exploration of its Dynamical Characteristics
- 论文作者：Feng Lin ; Youwei Zhang ; Yanjun Lu ; Xiaodong Zhang
- 英文论文作者：Feng Lin ; Youwei Zhang ; Yanjun Lu ; Xiaodong Zhang ; School of Automation ; Shenyang Aerospace University
- 年：2017
- 作者机构：School of Automation,Shenyang Aerospace University;
- 英文论文关键词：Tilt-quadrotor ; modeling ; simulation
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V212.4
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：615k
- 原文格式：D
- 会议级别：全国
摘要
The underactuation of the standard quadrotor( four independent control input versus six output) is a serious problem which can be solved by tilting four rotors.The steering wheel is installed on each axle of the original quadrotor so that the quadrotor turns into an actuation system(eight-input versus six-output). In this paper, the dynamic model of the tilt-quadrotor is established, and the validity of the model is verified by the simulation of MATLAB. The simulation results show that the tilt-quadrotor unmanned aerial vehicle can not only realize the basic motion of the ordinary quadrotor unmanned aerial vehicle, but also realize the horizontal movement with the zero attitude angle; The vertical direction of the movement or hover movement can be achieved with the nonzero attitude angle, which fully proved the tilt-quadrotor can achieve decoupling movement, can solve the ordinary quadrotor underactuation problem.
The underactuation of the standard quadrotor( four independent control input versus six output) is a serious problem which can be solved by tilting four rotors.The steering wheel is installed on each axle of the original quadrotor so that the quadrotor turns into an actuation system(eight-input versus six-output). In this paper, the dynamic model of the tilt-quadrotor is established, and the validity of the model is verified by the simulation of MATLAB. The simulation results show that the tilt-quadrotor unmanned aerial vehicle can not only realize the basic motion of the ordinary quadrotor unmanned aerial vehicle, but also realize the horizontal movement with the zero attitude angle; The vertical direction of the movement or hover movement can be achieved with the nonzero attitude angle, which fully proved the tilt-quadrotor can achieve decoupling movement, can solve the ordinary quadrotor underactuation problem.
The underactuation of the standard quadrotor( four independent control input versus six output) is a serious problem which can be solved by tilting four rotors.The steering wheel is installed on each axle of the original quadrotor so that the quadrotor turns into an actuation system(eight-input versus six-output). In this paper, the dynamic model of the tilt-quadrotor is established, and the validity of the model is verified by the simulation of MATLAB. The simulation results show that the tilt-quadrotor unmanned aerial vehicle can not only realize the basic motion of the ordinary quadrotor unmanned aerial vehicle, but also realize the horizontal movement with the zero attitude angle; The vertical direction of the movement or hover movement can be achieved with the nonzero attitude angle, which fully proved the tilt-quadrotor can achieve decoupling movement, can solve the ordinary quadrotor underactuation problem.
引文
[1]R.Voyles and G.Jiang,Hexrotor UAV platform enabling dextrous interaction with structures—Preliminary work,in Proc.IEEE Int.Symp.Safety,Security,Rescue Robot.(SSRR),Nov.2012:1–7.
[2]K.T.Oner,E.cetinsoy,M.Unel,M.F.Aksit,I.Kandemir,and K.Gulez,Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism,2008Proc.World.Acad.Sci.,Eng.Technol.,2008,p p.58-63.
[3]K.T.Oner,E.cetinsoy,E.Sirimoglu,C.Hancer,T.Ayken,and M.Unel,LQR and SMC stabilization of a new quadrotor unmanned aerial vehicle,Proc.World Acad.Sci.,Eng.Technol.,Oct.2009,pp.554-559.
[4]F.Kendoul,I.Fantoni R.lozano,Modeling and control of a small autonomous aircraft having two tilting rotors,IEEE.Trans.Robot.,Dec.2006,pp.1297-1302.
[5]F.Forte,R.Naldi,A.Serrani,and L.Marconi,Control of Modular aerial robots:Combining under-and fully-actuated behaviors,Proc.IEEE 51st Annu.Conf.Decision Control(CDC).,Dec.2012,pp.1160-1165.
[6]Alexandra Moutinho,Estanislao Mateos,Filipe Cunha,The tilt-quadrotor:concept,modeling and identification,2015IEEE International Conference on Autonomous Robot Systems and Competitions,2015:156-161.
[7]Markus Ryll,Heinrich H,A Novel Overactuated Quadrotor Unmanned Aerial Vehicle:Modeling,Control,and Experimental Validation,IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,23(2):540~546,2015
[8]Markus Ryll,Heinrich H,Bülthoff,and Paollo Robuffo Giordano,Modeling and Control of a Quadrotor UAV with Tilting Propellers,2012 IEEE International Conference on Robotics and Automation Rivercentre,Saint Paul Minnesota,USA,May 14-18,2012:4606-4613.
[9]Fatih?enkul,Erdi?Altu?,Modeling and Control of a Novel Tilt-Roll Rotor Quadrotor UAV,2013 International Conference on Unmaned Aircraft Systems(ICUAS),MAY28-31,2013:1071-1076.
[10]Takahito Mikami,Kenji Uchiyama,Design of Flight Control System for Quad Tilt-Wing UAV,2015 International Conference on Unmanned Aircraft Systems(ICUAS)Denver Marriott Tech Center Denver,Colorado,USA,June9-12,2015:801-805.
[11]Hironori Totoki,Yoshimasa Ochi Masayuki Sato,Koji Muraoka,Design and Testing of a Low-Order Flight Control System for Quad-Tilt-Wing UAV,2016 JOURNAL OF GUIDANCE,CONTROL,AND DYNAMICS,Japan,October,2016:2423-2430.
[12]Atsushi Oosedo,Satoko Abiko Shota Narasaki,Atsushi Kuno,Atsushi Konno and Masaru Uchiyama,Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change,2015 IEEE International Conference on Robotics and Automation(ICRA)Washington State Convention Center Seattle,Washington,May 26-30,2015:2326-2331.
[13]Abdulkerim Fatih?henkul·Erdin?Altu?,System Design of a Novel Tilt-Roll Rotor Quadrotor,Springer Science Business Media Dordrecht 2015:575-599.
[14]Swee King Phang,Chenxiao Cai,Ben M.Chen,Tong Heng Lee,Design and Mathematical Modeling of a4-standard-propeller(4SP)Quadrotor,Proceedings of the10th World Congress on Intelligent Control and Automation,Beijing,China,July 6-8,2012:3270-3275.
[15]M.ACCO,Mini Unmaned Aerial Vehicles Dynamic Model5th Year Integrated Project,INSA SOULETIS Aurélie,Januy2008.
[2]K.T.Oner,E.cetinsoy,M.Unel,M.F.Aksit,I.Kandemir,and K.Gulez,Dynamic model and control of a new quadrotor unmanned aerial vehicle with tilt-wing mechanism,2008Proc.World.Acad.Sci.,Eng.Technol.,2008,p p.58-63.
[3]K.T.Oner,E.cetinsoy,E.Sirimoglu,C.Hancer,T.Ayken,and M.Unel,LQR and SMC stabilization of a new quadrotor unmanned aerial vehicle,Proc.World Acad.Sci.,Eng.Technol.,Oct.2009,pp.554-559.
[4]F.Kendoul,I.Fantoni R.lozano,Modeling and control of a small autonomous aircraft having two tilting rotors,IEEE.Trans.Robot.,Dec.2006,pp.1297-1302.
[5]F.Forte,R.Naldi,A.Serrani,and L.Marconi,Control of Modular aerial robots:Combining under-and fully-actuated behaviors,Proc.IEEE 51st Annu.Conf.Decision Control(CDC).,Dec.2012,pp.1160-1165.
[6]Alexandra Moutinho,Estanislao Mateos,Filipe Cunha,The tilt-quadrotor:concept,modeling and identification,2015IEEE International Conference on Autonomous Robot Systems and Competitions,2015:156-161.
[7]Markus Ryll,Heinrich H,A Novel Overactuated Quadrotor Unmanned Aerial Vehicle:Modeling,Control,and Experimental Validation,IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,23(2):540~546,2015
[8]Markus Ryll,Heinrich H,Bülthoff,and Paollo Robuffo Giordano,Modeling and Control of a Quadrotor UAV with Tilting Propellers,2012 IEEE International Conference on Robotics and Automation Rivercentre,Saint Paul Minnesota,USA,May 14-18,2012:4606-4613.
[9]Fatih?enkul,Erdi?Altu?,Modeling and Control of a Novel Tilt-Roll Rotor Quadrotor UAV,2013 International Conference on Unmaned Aircraft Systems(ICUAS),MAY28-31,2013:1071-1076.
[10]Takahito Mikami,Kenji Uchiyama,Design of Flight Control System for Quad Tilt-Wing UAV,2015 International Conference on Unmanned Aircraft Systems(ICUAS)Denver Marriott Tech Center Denver,Colorado,USA,June9-12,2015:801-805.
[11]Hironori Totoki,Yoshimasa Ochi Masayuki Sato,Koji Muraoka,Design and Testing of a Low-Order Flight Control System for Quad-Tilt-Wing UAV,2016 JOURNAL OF GUIDANCE,CONTROL,AND DYNAMICS,Japan,October,2016:2423-2430.
[12]Atsushi Oosedo,Satoko Abiko Shota Narasaki,Atsushi Kuno,Atsushi Konno and Masaru Uchiyama,Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change,2015 IEEE International Conference on Robotics and Automation(ICRA)Washington State Convention Center Seattle,Washington,May 26-30,2015:2326-2331.
[13]Abdulkerim Fatih?henkul·Erdin?Altu?,System Design of a Novel Tilt-Roll Rotor Quadrotor,Springer Science Business Media Dordrecht 2015:575-599.
[14]Swee King Phang,Chenxiao Cai,Ben M.Chen,Tong Heng Lee,Design and Mathematical Modeling of a4-standard-propeller(4SP)Quadrotor,Proceedings of the10th World Congress on Intelligent Control and Automation,Beijing,China,July 6-8,2012:3270-3275.
[15]M.ACCO,Mini Unmaned Aerial Vehicles Dynamic Model5th Year Integrated Project,INSA SOULETIS Aurélie,Januy2008.