Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors
Hoverability Analysis and Development of a Quadrotor Only with Clockwise Rotors
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DOI：
10.1109/iros47612.2022.9981431
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发表时间：
2022-10
期刊：
影响因子：
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通讯作者：
Shunsuke Mochida;Ryotaro Onuki;T. Kawagoe;Takumi Ito;Tatsuya Ibuki;Riku Funada;M. Sampei
中科院分区：
文献类型：
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作者：
Shunsuke Mochida;Ryotaro Onuki;T. Kawagoe;Takumi Ito;Tatsuya Ibuki;Riku Funada;M. Sampei
提出了一种新型的只由顺时针转子组成的四旋翼结构。多旋翼无人机通常既有顺时针方向的转子，也有逆时针方向的转子，以抵消来自转子的扭矩。虽然所提议的结构只有顺时针方向的转子，但这些转子是倾斜的，以抵消围绕机身偏航角的扭矩。本文研究了所提出的结构实现静态悬停的条件。更具体地说，我们为所提出的结构的转子倾角设计提供了指导。然后，本文给出了旋翼倾角的设计实例，并开发了所提出的四旋翼样机。并针对所提出的结构设计了串级控制器。最后，用研制的样机和控制器进行了实验验证。
This paper presents novel quadrotor structures composed of only clockwise rotors. A multirotor unmanned aerial vehicle (UAV) generally has both clockwise and counterclockwise rotors to counteract the torques from the rotors. While the proposed structures have only clockwise rotors, those rotors are tilted to cancel the torques around the yaw angle of the body. This paper investigates the conditions for the proposed structures to achieve static hovering. More specifically, we provide a guideline to design the rotor tilt angles of the proposed structure. Then, this paper presents the design example of the rotor tilt angles and develops a prototype of the proposed quadrotor. The cascaded controller is also developed for the proposed structure. Finally, experimental validation is conducted with a developed prototype and controller.