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

• 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
• ISSN: 2504-446X; 2504-446X
• DOI: 10.3390/drones6090244

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.