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Investigation of the Effect of Changing the Geometry of a Quad-Rotor to Increase its Maneuverability
Alipour, Ensieh | 2016
538
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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 48722 (45)
- University: Sharif University of Technology
- Department: Aerospace Engineering
- Advisor(s):
- Abstract:
- Design and development of Unmanned Aerial Vehicles (UAVs) has been a hot topic in the past decades. In particular, Vertical Take Off & Landing Vehicles (VTOLs) have been extensively studied and are under constant development. Quad rotors are one of the major subcategories of VTOLs and a lot of effort have been devoted to their control optimization. In the present study, we have utilized a novel transformer quad rotor structure that can change the angle between its arms. This structural change is a type of design feature modification that can effect the moments of inertia by changing the flight dynamics of quad rotor. Modification of height difference between adjacent rotors, while avoiding their collision, can cause an overlap between rotors and a significant effect of flight dynamics that has been demonstrated through motion quations.Backstepping is one of the non-linear method to ensure the stability in a group of non-linear systems. This method is a recursive method control technique that can be used to design the control rules alongside ensuring the stability of closed-loop systems at the same time. Backstepping provides a flexible trend towards non-linear factors and has a long history of use in aerospace engineering. Therefore, it has been opted as an optimal method in our study.Quad rotor’s flight has been simulated in a software environment to evaluate its maneuverability and flight dynamics. Accordingly, flight dynamics have been implemented in simulations based on the equations for Translation and rotation movements that are non-linearly dependent through differential equations
- Keywords:
- Quadrotor ; Nonlinear Control ; Back-Stepping Method ; Geometric Structural ; Vertical Take-Off and Landing (VtOL) ; Angle Between Arms
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