Design, Modeling, and Control Allocation of a Heavy-Lift Aerial Vehicle Consisting of Large Fixed Rotors and Small Tiltrotors

Date

2022-02-01

Author

Ozdogan, Gokhan
Leblebicioğlu, Mehmet Kemal

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

141
views

0
downloads

In this article, we propose an unconventional heavy-lift aerial vehicle (HLAV), present the design and its control allocation analysis, and prove the concept by the demonstration of the experimental test prototype in the outdoor environment. We aim for a mechanically robust and simple vehicle design that efficiently performs heavy lifting compared to other common aerial vehicles under certain width constraints, without using a complex swashplate mechanism. The HLAV performs the task of carrying the main load with two large propellers that are efficient, thanks to the greater disk area, and includes two small tilting propellers for controllability. This system has a "PPNN" (P: clockwise and N: counterclockwise) propeller arrangement to compensate for the reaction torques of equally sized propeller pairs placed on opposite sides. However, conventional quadcopters with the "PPNN" propeller arrangement lose their controllability upon hovering. Therefore, servo motors are integrated into the small propellers to ensure controllability. The nonlinear dynamic model of the HLAV is built by the Newton-Euler approach, and the system is linearized around the hover equilibrium point for controllability analysis. Model parameters are estimated using closed-loop system identification tools. High-level controllers are designed with the "loop shaping" method. To show feasibility, the proposed system is experimentally verified with a newly designed prototype, and sufficient trajectory tracking performance is achieved in a stable manner.

Subject Keywords

Rotors, Propellers, Servomotors, Controllability, Loading, Autonomous aerial vehicles, Robots, Aerial robotics, control allocation, design optimization, dynamic modeling, flight control, tiltrotor

URI

https://hdl.handle.net/11511/96913

Journal

IEEE-ASME TRANSACTIONS ON MECHATRONICS

DOI

https://doi.org/10.1109/tmech.2022.3150713

Collections

Department of Electrical and Electronics Engineering, Article

Suggestions

OpenMETU
Core

Design, Modeling, and Optimal Control Allocation of a Heavy-lift Aerial Vehicle Consisting of Large and Small Tilt-Rotors Özdoğan, Gökhan; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2021-9-06) We propose an unconventional heavy lifting aerial vehicle (HLAV), present the design and its control allocation analysis, and prove the concept by demonstration of the experimental test prototype in the outdoor environment. We aimed for a mechanically robust and simple vehicle design that efficiently performs heavy lifting compared to other common aerial vehicles under certain width constraints, without using a complex swashplate mechanism. The HLAV performs the task of carrying the main load with two large...
Design and simulation of an integrated active yaw control system for road vehicles Tekin, Goekhan; Ünlüsoy, Yavuz Samim (2010-01-01) In this paper, design methodology and simulation results of an active yaw control system For road vehicles arc presented. The main objectives of the yaw control system arc to estimate the desired yaw behaviour of file vehicle according to the demand of file driver by means of a two degree-of-freedom vehicle model and track this desired yaw rate while considering vehicle steerability parameters. Based on vehicle yaw rate error and vehicle sideslip angle, the controller system applies brake torques to individ...
Design of A Medium Range Tactical UAV and Improvement of Its Performance by Using Winglets Turanoguz, Eren; Alemdaroglu, Nafiz (2015-06-12) This paper presents the design, performance analysis and aerodynamic improvement of a designed medium range tactical unmanned aerial vehicle. Main requirements are set as following; cruising altitute above 3500m, endurance of approximately 10-12 hours, range of 150 km and payload of 60 kg. The conventional design phase is based on the employment of historical equations and experiences. The aerodynamic improvement process is related with rise in span efficiency by employement and comparison of different wing...
Modelling of an articulated flying body and control system design Güzelcan, Burçin Tutku; Yazıcıoğlu, Yiğit; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2022-12-5) This study presents the conceptual design of an articulated coaxial rotor Unmanned Air Vehicle (UAV) with three-dimensional dynamical models and a control strategy. Conventional rotary-wing aircrafts operate maneuvers via swashplates which is a complex mechanism adding bulky elements to the aircrafts. While designing light weight UAVs, there appears a need for less complex and compact mechanisms for maneuverability rather than swashplates. There are different methods and mechanisms to acquire maneuvering wi...
Flight control system design of an uncommon quadrotor aerial vehicle Baskın, Mehmet; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2021-9-01) In this thesis, design of a flight control system for an uncommon quadrotor aerial vehicle is discussed. This aerial vehicle consists of two counter-rotating big rotors on longitudinal axis to increase the lift capacity and flight endurance, and two counter-rotating small tilt rotors on lateral axis to stabilize the attitude. Firstly, full nonlinear dynamic model of this vehicle is obtained by using Newton-Euler formulation. Later, derived approximate linear model around hover is statically decoupled to sim...

Citation Formats

G. Ozdogan and M. K. Leblebicioğlu, “Design, Modeling, and Control Allocation of a Heavy-Lift Aerial Vehicle Consisting of Large Fixed Rotors and Small Tiltrotors,” IEEE-ASME TRANSACTIONS ON MECHATRONICS, pp. 0–0, 2022, Accessed: 00, 2022. [Online]. Available: https://hdl.handle.net/11511/96913.