デュアルロータ・テイルシッターVTOL UAVのためのスワッシュプレートレス・エレボン駆動
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
デュアルロータ・テイルシッターVTOL機において、モータ回転数変調でピッチ制御を行うスワッシュプレートレス機構とエレボンを組み合わせ、ピッチとヨーの制御を分離することで追従性と外乱耐性を向上させる手法を提案・実機検証した。
著者: Nan Chen, Fanze Kong, Haotian Li, Jiayuan Liu, Ziwei Ye, Wei Xu, Fangcheng Zhu, Ximin Lyu, Fu Zhang
分類: cs.RO
原文アブストラクト
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which controls both pitch and yaw using elevons, the SEA adopts swashplateless mechanisms to generate an extra moment through motor speed modulation to control pitch and uses elevons solely for controlling yaw, without requiring additional actuators. This decoupled control strategy mitigates the saturation of elevons' deflection needed for large pitch and yaw control actions, thus improving the UAV's control performance on trajectory tracking and disturbance rejection performance in the presence of large external disturbances. Furthermore, the SEA overcomes the actuation degradation issues experienced by the CEA when the UAV is in close proximity to the ground, leading to a smoother and more stable take-off process. We validate and compare the performances of the SEA and the CEA in various real-world flight conditions, including take-off, trajectory tracking, and hover flight and position steps under external disturbance. Experimental results demonstrate that the SEA has better performances than the CEA. Moreover, we verify the SEA's feasibility in the attitude transition process and fixed-wing-mode flight of the VTOL UAV. The results indicate that the SEA can accurately control pitch in the presence of high-speed incoming airflow and maintain a stable attitude during fixed-wing mode flight. Video of all experiments can be found in youtube.com/watch?v=Sx9Rk4Zf7sQ
