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Design and Fabrication of a Quadrotor with Dihedral Angle Capability and its Dynamic Modeling and Motion Control

Zargarbashi, Fatemeh | 2022

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54918 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Alasti, Aria; Nejat Pishkenari, Hossein
  7. Abstract:
  8. As the leading kind of multi-rotors, quadrotors have become one of the most popular Unmanned Areal Vehicles (UAVs). These robots are very agile, but their speed is limited when performing decent maneuvers. In this project, a special quadrotor with dihedral-rotating arms is presented in order to increase the decent velocity of the vehicle. The conceptual and detailed designs of the vehicle are presented first, followed by the construction of the quadrotor. The fabricated quadrotor measures 25 cm in size, has a weight of about 1 kg, and can support up to 70 degrees of dihedral angle. Afterwards, the dynamic equations of the dihedral quadrotor are driven and simulated. The effects of dihedral angle on the vehicle's stability are then investigated, and the efficient dihedral angle is determined to be 12.5 degrees. In addition, the sensitivity of the system to uncertainties in the dihedral angles is analyzed. It is demonstrated that the maximum allowable uncertainty in the dihedral angle decreases with the increase of the dihedral angle. Moreover, a proper controller is designed and implemented to control the robot in the fixed-dihedral and variable-dihedral modes. Finally, the behavior of the fixed-dihedral quadrotor is tested in several outdoor experiments
  9. Keywords:
  10. Quadcopter ; Quadrotor ; Dihedral Angle ; Control ; Stability ; Vortex Ring ; Dynamics ; Unmanned Aerial Vehicles (UAV)

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