Toward a New Multirotor Design With Spatial Configuration and Tilted Rotors

M. Ghazali, Y. Bouzid, M. Belhocine, S. H. Derrouaoui
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引用次数: 0

Abstract

In recent years, aerial interaction tasks increasingly use UAVs, and because of their intrinsic under-actuation, they are consequently limited in their motion. Therefor, there are three classes of systems to overcome the under-actuation problem such as, the non-flat multirotors, drone with tilted rotors and reconfigurable systems. This paper proposes generic modeling of a multirotor with a non-flat configuration. This model is derived by considering all physical and mechanical constraints. As a result, the body-fixed frame can be placed at any point in the vehicle and the rotors instead with varying tilt angles and arm lengths in any position in space. These specifications give a nonsymmetrical and spatial configuration to the multirotor with fully row rank control allocation matrix. A numerical simulation result was provided to show the effectiveness of our model.
基于空间构型和倾斜转子的新型多旋翼设计
近年来,空中交互任务越来越多地使用无人机,由于其固有的欠驱动,它们的运动受到限制。因此,有三类系统可以克服欠驱动问题,即非平面多旋翼、倾斜旋翼无人机和可重构系统。本文提出了一种非平面多转子的通用建模方法。该模型是在考虑了所有物理和机械约束的基础上推导出来的。因此,车身固定框架可以放置在车辆的任何位置,而转子则可以在空间的任何位置上以不同的倾斜角度和臂长放置。这些规范使多旋翼具有全行秩控制分配矩阵的非对称空间构型。数值模拟结果表明了该模型的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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