4/10/2023 0 Comments Variable pitch quad copterThe relationship under certain parameter conditions is analysed and the parameter conditions that lead to zero self-spinning are identified. It is also discovered that the quadcopter exhibits different and favourable behaviour, such as slow self-spinning speed. It is shown that the yaw angle and angular velocity become uncontrollable in the presence of a VPP fault, yet the quadcopter can still accurately track a desired trajectory. Finally, a linear controller is proposed. The uncontrollable mode is identified next. In this paper firstly the balance trajectory is analysed. This problem has not been studied in the literature. In this paper, the flight control of a centrally-powered VPP quadcopter in the presence of a propeller fault is studied. Adding actuators to control the pitch angles of the propellers increases the mechanical complexity and hence may increase the risk of faults. UAM, HQ, handling qualities, NASA, quadrotor, air taxi operations, urban air mobility National CategoryĪerospace Engineering Identifiers URN: urn:nbn:se:ltu:diva-76146 OAI: oai:DiVA.Research into variable pitch propeller (VPP) quadcopters has seen a marked increase in recent years which is due to their enhanced dynamic capabilities compared to conventional fixed pitch propeller quadcopters. Place, publisher, year, edition, pages2019. Lastly, comparing the RPM controlled version of the quadrotor to the contemporary blade-pitch controlled version, one can see that the latter is more inherently responsive compared to its successor. There are still some unknowns on how the ESC should be considered according to general standards and aircraft standards. The ESC correlates to the general stability of the aircraft, making the ESCs aggressive enough will inherently make the aircraft unstable. The motor limits in this thesis was set to +/- 200V which corresponds to an effect of a single electric motor of approximately 54 hp or 40kW. It is seen that with a fast tune on the ESC the likeliness of spiking the motor voltage increases which implies that the motor power saturates. Controlling the aircraft through rotor RPM is slower than varying the blade-pitch angle, spinning up the rotors require more power from the motors than keeping a fixed RPM, hence the motor power determines how fast the quadrotor can respond and better cope with sudden disturbances and turbulence. Also, the control axis rate command, e.g, roll, has a strong correlation to motor power. The results prove that the aircraft is fully controllable using a variable RPM configuration, but that it has a spin-up region that impacts the control response and manoeuvrability mainly due to rotor inertia and lagging of the controller. Lastly, the two models are compared, the variable RPM quadrotor case is considered mostly whereas the variable blade-pitch angle acts as a reference model. Further more, it describes a process of designing a motor speed controller, which goes by the name Electronic Speed Controller (ESC), that connects to the Flight Control System (FCS). This thesis will act as a guidance on how the control system can be designed, as well as some aspects of variable RPM rotorcraft. The aircraft geometries are essentially identical with the exception of propulsion method and weight. One, is based on constant rotor RPM - variable blade-pitch angle, and the other is based on variable rotor RPM - constant blade-pitch angle. CONDUIT is then used to optimise a control system specifically designed for two similar quadrotor, but with different control systems. FlightCODE imports sized parameters from the vehicle design and calculates a point model linear state-space matrix governing the Equation of Motion (EOM). This thesis article investigates controls aspects of a single-passenger quadcopter prototype by using the programs SIMPLI-FLYD (now by the name FlightCODE), and CONDUIT. NASA, which is acting as a leader through the UAM Grand Challenge, is dedicated to conduct research facilitating the development of key areas associated with the leap of technology. These vehicles are capable of Vertical Take-Off and Landing (VTOL) operations. It is no longer feasible to let traffic flow on the ground level, instead technology is leading towards a network of "flying cars" that are given the name air taxis. Companies including aerospace, transportation, and others endeavour to shape the next era of public transportation. With an exponentially growing demand for Urban Air Mobility (UAM) capable vehicles directly related to traffic congestion in large cities around the world. 2019 (English) Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits Student thesis Abstract
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