Performance analysis of vertically offset overlapped propulsion system based quadrotor in an aerial mapping mission

IF 1.5 4区工程技术 Q2 ENGINEERING, AEROSPACE

International Journal of Micro Air Vehicles Pub Date : 2018-10-29 DOI:10.1177/1756829318809706

G. Nandakumar, Rohan Saphal, Ashish Joishy, Asokan Thondiyath

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引用次数: 2

Abstract

In this paper, the authors present the performance analysis of a Vertically Offset Overlapped Propulsion System (VOOPS)-based quadrotor in an aerial mapping mission. The dynamic model of the VOOPS quadrotor with the effect of overlapping propellers and the profile drag has been derived and simulated. A path-tracking mission is taken as an example for aerial survey. The controller used for this task is presented, followed by the response study of the attitude and the position controller with standard test inputs. A graphical interface has been built to select the area to be mapped by defining a polygon around it, and waypoints for lawn-mower type survey grid were generated based on the direction of wind. The path-tracking algorithm is presented along with course correction and simulations were performed with both conventional and VOOPS quadrotor. An experimental vehicle based on the proposed VOOPS concept has been built, tested on the same path, and the results are discussed. The results show that the VOOPS quadrotor is capable of performing the aerial mapping mission with quick response and good accuracy.

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基于四旋翼的垂直偏移重叠推进系统在测绘任务中的性能分析

在本文中，作者介绍了在航空测绘任务中基于垂直偏移重叠推进系统（VOOPS）的四旋翼机的性能分析。推导并模拟了VOOPS四旋翼在螺旋桨重叠和剖面阻力作用下的动力学模型。以路径跟踪任务为例进行了航空测量。介绍了用于该任务的控制器，然后研究了具有标准测试输入的姿态和位置控制器的响应。已经建立了一个图形界面，通过定义周围的多边形来选择要绘制地图的区域，并根据风向生成割草机类型调查网格的路线点。提出了路径跟踪算法和航向校正，并用常规和VOOPS四旋翼机进行了仿真。基于所提出的VOOPS概念，已经建立了一个实验车辆，并在同一路径上进行了测试，并对结果进行了讨论。结果表明，VOOPS四旋翼机能够以快速响应和良好的精度执行航空测绘任务。

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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来源期刊

International Journal of Micro Air Vehicles ENGINEERING, AEROSPACE-

CiteScore

3.00

自引率

7.10%

发文量

审稿时长

>12 weeks

期刊介绍： The role of the International Journal of Micro Air Vehicles is to provide the scientific and engineering community with a peer-reviewed open access journal dedicated to publishing high-quality technical articles summarizing both fundamental and applied research in the area of micro air vehicles.