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- Title
Control and Optimization of a Variable-Pitch Quadrotor with Minimum Power Consumption.
- Authors
Shouzhao Sheng; Chenwu Sun
- Abstract
Recently, there has been a rapid growth of interest in quadrotors with electric variable-pitch propellers. The control and optimization of such propellers are important factors for improving the flight performance of the vehicles. Therefore, the steady-state identification method to estimate the parameters of the mathematical model of the electric variable-pitch propeller is developed. The steady-state control and optimization scheme with minimum power consumption and the adaptive compensation scheme for the variable-pitch propeller are then proposed, based on which the response performance of the lift force produced by the variable-pitch propeller can be greatly improved by using a cascade compensation scheme. Furthermore, the direct lift-based flight control strategy is presented, which can significantly contribute to the improvement of the flight performance, precisely because the roll, pitch, yaw and vertical channels of the variable-pitch quadrotor are approximately linearized and completely decoupled from each other in this case. The experimental results demonstrate that both the endurance performance and the positioning accuracy of the variable-pitch quadrotor are improved simultaneously by using the proposed method with minimum power consumption.
- Subjects
AERIAL propellers; QUADROTOR helicopters; DRONE aircraft; ENERGY consumption research; STEADY-state flow
- Publication
Energies (19961073), 2016, Vol 9, Issue 4, p232
- ISSN
1996-1073
- Publication type
Article
- DOI
10.3390/en9040232