A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9025

Xiang He, K. Leang

引用次数: 1

Abstract

This paper introduces a new quasi-steady in-ground effect model for rotorcraft unmanned aerial vehicles to predict the aerodynamic behavior when the vehicle’s rotors approach ground plane. The model assumes that the compression of the outflow due to the presence of ground plane induces a change in the induced velocity that can drastically affect the thrust and power output. The new empirical model describes the change in thrust as a function of the distance to an obstacle for a rotor in hover condition. Using blade element theory and the method of image, the model parameters are described in terms of the rotor pitch angle and solidity. Experiments with off-the-shelf, fixed-pitch propellers and 3D-printed variable pitch propellers are carried out to validate the model. Experimental results suggest good agreement with 9.5% root-mean-square error (RMSE) and 97% p-value of statistic significance.

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一种新的旋翼无人机准稳态入地效应模型

为预测旋翼无人机旋翼接近地平面时的气动特性，提出了一种新的旋翼无人机准稳态入地效应模型。该模型假定由于地平面的存在而导致的流出流压缩引起诱导速度的变化，这种变化会极大地影响推力和功率输出。新的经验模型将旋翼在悬停状态下的推力变化描述为与障碍物距离的函数。利用叶片单元理论和图像法，用转子俯仰角和固体度来描述模型参数。用现成的固定螺距螺旋桨和3d打印的变螺距螺旋桨进行了实验来验证模型。实验结果与统计显著性的9.5%的均方根误差(RMSE)和97%的p值吻合良好。

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

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.