Design and Experimental Verification of a Hoverable Quadrotor Composed of Only Clockwise Rotors
Design and Experimental Verification of a Hoverable Quadrotor Composed of Only Clockwise Rotors
复制标题
仅顺时针旋翼悬停四旋翼飞行器的设计与实验验证
DOI：
10.1080/01691864.2023.2185813
复制
发表时间：
2023
影响因子：
2
通讯作者：
Mitsuji Sampei
中科院分区：
文献类型：
--
作者：
Takumi Ito;Riku Funada;Shusuke Mochida;Takahiro Kawagoe;Tatsuya Ibuki;Mitsuji Sampei
本文提出了一种新的四旋翼结构，使其只有顺时针方向的转子悬停，其中我们将其表示为4P(正)转子。我们首先研究了4P转子悬停的条件。更具体地说，我们进行了与操纵性分析密切相关的悬停分析，指出每个旋翼的倾角是4P旋翼悬停的关键条件。然后利用推导出的倾角条件给出了两个样机。每个样机的设计目的如下：一是减少倾斜转子产生的水平力，二是使其产生的扭矩与标准四旋翼的扭矩相同。通过仿真和实验验证了两种样机的悬停性能和动力学特性。
This paper presents a novel structure for a quadrotor, making it hover only with clockwise rotors, where we denote it as a 4P (Positive) rotor. We first investigate the condition for a 4P rotor to hover. More specifically, we conduct the hoverability analysis, which is closely related to the controllability analysis, and show that the tilting angles of each rotor are crucial conditions for the hoverability of the 4P rotor. The derived condition for the tilting angles is then utilized to present two prototypes. Each prototype is developed with the following design purposes: One is to reduce the horizontal force generated by the tilted rotors, and the other is to make its torque generation the same as that of a standard quadrotor. The hoverability and dynamical property of both prototype is demonstrated in simulations and experiments.