A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376526" target="_blank" >RIV/68407700:21230/24:00376526 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2024.3433749" target="_blank" >https://doi.org/10.1109/LRA.2024.3433749</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2024.3433749" target="_blank" >10.1109/LRA.2024.3433749</a>

Jazyk výsledku

angličtina

Název v původním jazyce

A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles

Popis výsledku v původním jazyce

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges for robust control of quadrotors. The most common approach is to approximate the mapping of rotor speed to thrust with a simple quadratic model. This model is known to fail under non-hovering flight conditions, introducing errors into the control pipeline. One of the approaches to modeling the aerodynamics around the propellers is the Blade Element Momentum Theory (BEMT). Here, we propose a novel BEMT-based closed-loop thrust estimator and control to eliminate the laborious calibration step of finding several aerodynamic coefficients. We aim to reuse known values as a baseline and fit the thrust estimate to values closest to the real ones with a simple test bench experiment, resulting in a single scaling value. A feedforward PID thrust control was implemented for each rotor, and the methods were validated by outdoor experiments with two multirotor UAV platforms: 250mm and 500mm. A statistical analysis of the results showed that the thrust estimation and control provided better robustness under aerodynamically varying flight conditions compared to the quadratic model.

Název v anglickém jazyce

A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles

Popis výsledku anglicky

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges for robust control of quadrotors. The most common approach is to approximate the mapping of rotor speed to thrust with a simple quadratic model. This model is known to fail under non-hovering flight conditions, introducing errors into the control pipeline. One of the approaches to modeling the aerodynamics around the propellers is the Blade Element Momentum Theory (BEMT). Here, we propose a novel BEMT-based closed-loop thrust estimator and control to eliminate the laborious calibration step of finding several aerodynamic coefficients. We aim to reuse known values as a baseline and fit the thrust estimate to values closest to the real ones with a simple test bench experiment, resulting in a single scaling value. A feedforward PID thrust control was implemented for each rotor, and the methods were validated by outdoor experiments with two multirotor UAV platforms: 250mm and 500mm. A statistical analysis of the results showed that the thrust estimation and control provided better robustness under aerodynamically varying flight conditions compared to the quadratic model.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2024

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

9

Číslo periodika v rámci svazku

10

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

8889-8896

Kód UT WoS článku

001313351400003

EID výsledku v databázi Scopus

2-s2.0-85199577547