Medium-Scale UAVs: A Practical Control System Considering Aerodynamics Analysis

Unmanned aerial vehicles (UAVs) have drawn significant attention from researchers over the last decade due to their wide range of possible uses. Carrying massive payloads concurrent with light UAVs has broadened the aeronautics context, which is feasible using powerful engines; however, it faces sev...

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Bibliographic Details
Published in:Drones (Basel) 2022-09, Vol.6 (9), p.244
Main Authors: Ale Isaac, Mohammad Sadeq, Luna, Marco Andrés, Ragab, Ahmed Refaat, Ale Eshagh Khoeini, Mohammad Mehdi, Kalra, Rupal, Campoy, Pascual, Flores Peña, Pablo, Molina, Martin
Format: Article
Language:English
Subjects:
adaptive control
Aerodynamics
Aeronautics
Automatic pilots
Batteries
Control algorithms
Control systems
Controllers
Design
Design and construction
Drone aircraft
Drones
Energy
Engines
Investigations
medium-scale UAV
Methods
Model reference adaptive control
motor failure
payload carriage
Payloads
Power
Simulation
Unmanned aerial vehicles
Velocity
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Summary:Unmanned aerial vehicles (UAVs) have drawn significant attention from researchers over the last decade due to their wide range of possible uses. Carrying massive payloads concurrent with light UAVs has broadened the aeronautics context, which is feasible using powerful engines; however, it faces several practical control dilemmas. This paper introduces a medium-scale hexacopter, called the Fan Hopper, alimenting Electric Ducted Fan (EDF) engines to investigate the optimum control possibilities for a fully autonomous mission carrying a heavy payload, even of liquid materials, considering calculations of higher orders. Conducting proper aerodynamic simulations, the model is designed, developed, and tested through robotic Gazebo simulation software to ensure proper functionality. Correspondingly, an Ardupilot open source autopilot is employed and enhanced by a model reference adaptive controller (MRAC) for the attitude loop to stabilize the system in case of an EDF failure and adapt the system coefficients when the fluid payload is released. Obtained results reveal less than a 5% error in comparison to desired values. This research reveals that tuned EDFs function dramatically for large payloads; meanwhile, thermal engines could be substituted to maintain much more flight endurance.
ISSN:2504-446X
2504-446X
DOI:10.3390/drones6090244