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Volume 47 Issue 2
Feb.  2021
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Journal of Beijing University of Aeronautics and Astronautics  > 2021  >  47(2): 373-381.
XU Lihao, ZHANG Yu, XU Binet al. Maneuvering flight control of QUAV based on bi-directional motor actuation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 373-381. doi: 10.13700/j.bh.1001-5965.2020.0221(in Chinese)
Citation: XU Lihao, ZHANG Yu, XU Binet al. Maneuvering flight control of QUAV based on bi-directional motor actuation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 373-381. doi: 10.13700/j.bh.1001-5965.2020.0221(in Chinese)
shu

Maneuvering flight control of QUAV based on bi-directional motor actuation

doi: 10.13700/j.bh.1001-5965.2020.0221
  • 1.

    State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China

  • 2.

    School of Automation, Northwestern Polytechnical University, Xi'an 710072, China

Funds:

National Natural Science Foundation of China 61673341

National Natural Science Foundation of China 61933010

Project of State Key Laboratory of Industrial Control Technology, China ICT1913

Open Research Project of State Key Laboratory of Industrial Control Technology, China ICT20037

Aeronautical Science Foundation of China 20180753007

More Information
  • Corresponding author: ZHANG Yu. E-mail: zhangyu80@zju.edu.cn
  • Received Date: 27 May 2020
  • Accepted Date: 19 Jun 2020
  • Publish Date: 20 Feb 2021
    Abstract

  • The position and attitude control of Quadrotor Unmanned Aerial Vehicle (QUAV) determines its maneuverability. First, to overcome the mobility defect of the under-actuated system, the dynamic model of bi-directional-motor-driven QUAV based on quaternion is presented, including the analysis on omnidirectional movement process. The attitude and position controllers and QUAV's control allocation matrix are illustrated. Then, considering the vertical x-z plane model custom-built for the new QUAV, the optimal planning tool is used to propose the maneuvering flight trajectory generation method suitable for QUAV by setting reasonable parameters and restrictions. The trajectories are produced but not limited within flip, vertical roll and point-to-point. The thrust and torque outputs are optimal to achieve rapidity under the conditions above. Finally, a QUAV simulation environment with circuit, electronic speed controllers, motors, blades and frames is established. By evaluating the results of simulation, this paper demonstrates that compared with unidirectional-rotor-driven QUAV, the bi-directional-motor-driven one effectively improves the accuracy of attitude and position tracking and promotes maneuverability.

     

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    • References(15)
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