Design considerations for a large quadrotor with moving mass control

《Design considerations for a large quadrotor with moving mass control》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、2016InternationalConferenceonFrDTT3.5UnmannedAircraftSystems(ICUAS)June7-10,2016.Arlington,VAUSADesignconsiderationsforalargequadrotorwithmovingmasscontrolTomislavHaus,MatkoOrsag,StjepanBogdanAbstract—Inthispaperwepresentourongoingeffortstobuildaheavyliftmultirotorplatformcapableofliftingover5

2、0kgofpayload.SuchasystemrequiresaparadigmshiftinthedesignoftheUAV.Thereforeweproposeusingminiaturetwostrokeinternalcombustionenginestosupplythenecessaryliftandenduranceandcombinethemwithanovelcontrolconceptbasedonthevariationsofthecenterofgravity(CoG)ofthesystem.Inthispaperwepresentadetailedst

3、abilityandsensitivityanalysisoftheproposedcontrolschemeanddiscussitsunderliningeffectontheconstructiondesignparametrization.WepresentsimulationresultsfromaGazebobasedsimulatorthatconfirmtheresultsofourmathematicalanalysis.I.INTRODUCTIONFig.1:ThegoalofMORUSprojectistodesignacooperativeautonomous

4、roboticsystemcomprisedofaUAVandanTheworkpresentedinthispaperfitswithinthescopeAUV,workingtogetheronmaritimeinspection.ofanongoingprojectcalledMORUSthataimstobuildacooperativeautonomousroboticsystemabletoworkbothinairandunderwater(Fig1).Tothatendanunmannedaerialvehicle(UAV)andanautonomousunderwa

5、tervehicle(AUV)DC,etc.)incars,tofindthatthecurrentstateoftheartarebroughttoworktogetheronacommongoal,maritimebatterieslackthenecessarypowerdensityinordertoarchivesurveillance.Intheenvisionedscenario,theUAVhastobeaslongrangeasgasolinepoweredICengines.capableofliftingtheAUVandcarryingittoadesigna

6、tedAlthoughtherehasbeentremendousadvancesinthedrop-offpoint.productionofsmallcombustionengines,thereisagrowingEversincetheywereintroducedtothemainstream[1],concernwithintheroboticscommunity,thattheseenginesdoquadrotorshaveemergedasanumberoneresearchplat-nothavethenecessarydynamicalcapabilities

7、tostabilizetheformusedinaerialrobotics.Sincethen,numerouslinearquadrotorinflight.Forinstance,theauthorsin[4],proposedandnonlinearcontrolalgorithmshavebeenproposedandanovelconceptofaquadrotorpoweredbyasinglefourtested.However,thesealgorit