Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope
This paper presents the modeling, simulation, and control of a small-scale electric powered quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle. In the modeling part, a full attitude wind tunnel test is performed on the full-scale unmanned aerial vehicle to capture its aerody...
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Published in | International journal of micro air vehicles Vol. 10; no. 4; pp. 303 - 317 |
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Main Authors | , , , , , |
Format | Journal Article |
Language | English |
Published |
London, England
SAGE Publications
01.12.2018
Sage Publications Ltd |
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Abstract | This paper presents the modeling, simulation, and control of a small-scale electric powered quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle. In the modeling part, a full attitude wind tunnel test is performed on the full-scale unmanned aerial vehicle to capture its aerodynamics over the flight envelope. To accurately capture the degradation of motor thrust and torque at the presence of the forward speed, a wind tunnel test on the motor and propeller is also carried out. The extensive wind tunnel tests, when combined with the unmanned aerial vehicle kinematics model, dynamics model and other practical constraints such as motor saturation and delay, lead to a complete flight simulator that can accurately reveal the actual aircraft dynamics as verified by actual flight experiments. Based on the developed model, a unified attitude controller and a stable transition controller are designed and verified. Both simulation and experiments show that the developed attitude controller can stabilize the unmanned aerial vehicle attitude over the entire flight envelope and the transition controller can successfully transit the unmanned aerial vehicle from vertical flight to level flight with negligible altitude dropping, a common and fundamental challenge for tail-sitter vertical take-off and landing aircrafts. Finally, when supplied with the designed controller, the tail-sitter unmanned aerial vehicle can achieve a wide flight speed envelope ranging from stationary hovering to fast level flight. This feature dramatically distinguishes our aircraft from conventional fixed-wing airplanes. |
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AbstractList | This paper presents the modeling, simulation, and control of a small-scale electric powered quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle. In the modeling part, a full attitude wind tunnel test is performed on the full-scale unmanned aerial vehicle to capture its aerodynamics over the flight envelope. To accurately capture the degradation of motor thrust and torque at the presence of the forward speed, a wind tunnel test on the motor and propeller is also carried out. The extensive wind tunnel tests, when combined with the unmanned aerial vehicle kinematics model, dynamics model and other practical constraints such as motor saturation and delay, lead to a complete flight simulator that can accurately reveal the actual aircraft dynamics as verified by actual flight experiments. Based on the developed model, a unified attitude controller and a stable transition controller are designed and verified. Both simulation and experiments show that the developed attitude controller can stabilize the unmanned aerial vehicle attitude over the entire flight envelope and the transition controller can successfully transit the unmanned aerial vehicle from vertical flight to level flight with negligible altitude dropping, a common and fundamental challenge for tail-sitter vertical take-off and landing aircrafts. Finally, when supplied with the designed controller, the tail-sitter unmanned aerial vehicle can achieve a wide flight speed envelope ranging from stationary hovering to fast level flight. This feature dramatically distinguishes our aircraft from conventional fixed-wing airplanes. |
Author | Zhou, Jinni Shen, Shaojie Lyu, Ximin Zhang, Fu Li, Zexiang Gu, Haowei |
Author_xml | – sequence: 1 givenname: Ximin orcidid: 0000-0002-5204-5628 surname: Lyu fullname: Lyu, Ximin organization: Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong – sequence: 2 givenname: Haowei surname: Gu fullname: Gu, Haowei organization: Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong – sequence: 3 givenname: Jinni surname: Zhou fullname: Zhou, Jinni organization: Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong – sequence: 4 givenname: Zexiang surname: Li fullname: Li, Zexiang organization: Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong – sequence: 5 givenname: Shaojie surname: Shen fullname: Shen, Shaojie organization: Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong – sequence: 6 givenname: Fu surname: Zhang fullname: Zhang, Fu email: fuzhang@hku.hk organization: Department of Mechanical Engineering, University of Hong Kong, Pokfulam, Hong Kong |
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Cites_doi | 10.2514/1.30122 10.1002/9781119174882 10.1109/MRA.2010.937855 10.2514/1.G002168 10.2514/1.41687 10.1260/1756-8293.7.4.449 10.2514/4.861550 |
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Copyright | The Author(s) 2018 The Author(s) 2018. This work is licensed under the Creative Commons Attribution – Non-Commercial License http://creativecommons.org/licenses/by-nc/4.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
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Keywords | flight experiment tail-sitter unmanned aerial vehicle Vertical take-off and landing simulation wide flight envelope |
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References | Kubo, Suzuki 2008; 45 Bronz, Drouin 2015; 7 Tsiotras, Longuski 1995; 43 Hartmann, Meyer, Moormann 2017; 40 Oosedo, Abiko, Konno 2016 Fraiture 2009; 32 Michael, Mellinger, Lindsey 2010; 17 bibr14-1756829318813633 Tsiotras P (bibr25-1756829318813633) 1995; 43 Etkin B (bibr29-1756829318813633) 1996 Anderson J, John David. (bibr10-1756829318813633) 1984 Oosedo A (bibr17-1756829318813633) 2016 bibr19-1756829318813633 bibr6-1756829318813633 bibr24-1756829318813633 bibr22-1756829318813633 bibr7-1756829318813633 bibr26-1756829318813633 |
References_xml | – volume: 7 start-page: 449 year: 2015 end-page: 462 article-title: Preliminary design estimation of the v/stol airplane performance. publication-title: Int J MicroAir Veh contributor: fullname: Drouin – volume: 32 start-page: 1029 year: 2009 end-page: 1034 article-title: Regularization of minimum parameter attitude estimation. publication-title: J Guid Control Dyn contributor: fullname: Fraiture – volume: 17 start-page: 56 year: 2010 end-page: 65 article-title: The grasp multiple micro-uav testbed. publication-title: IEEE Robot Autom Mag contributor: fullname: Lindsey – volume: 45 start-page: 292 year: 2008 end-page: 297 article-title: Tail-sitter vertical takeoff and landing unmanned aerial vehicle: transitional flight analysis. publication-title: J Aircr contributor: fullname: Suzuki – volume: 43 start-page: 243 year: 1995 end-page: 262 article-title: A new parameterization of the attitude kinematics publication-title: J Astronaut Sci contributor: fullname: Longuski – volume: 40 start-page: 1348 year: 2017 end-page: 1359 article-title: Unified velocity control and flight state transition of unmanned tilt-wing aircraft. publication-title: J Guid Control Dyn contributor: fullname: Moormann – year: 2016 article-title: Optimal transition from hovering to level-flight of a quadrotor tail-sitter uav publication-title: Auton Robots contributor: fullname: Konno – volume-title: Dynamics of flight: stability and control year: 1996 ident: bibr29-1756829318813633 contributor: fullname: Etkin B – ident: bibr7-1756829318813633 doi: 10.2514/1.30122 – ident: bibr22-1756829318813633 doi: 10.1002/9781119174882 – ident: bibr19-1756829318813633 doi: 10.1109/MRA.2010.937855 – ident: bibr6-1756829318813633 doi: 10.2514/1.G002168 – start-page: 14 volume-title: Aircraft performance selection and design year: 1984 ident: bibr10-1756829318813633 contributor: fullname: Anderson J, John David. – year: 2016 ident: bibr17-1756829318813633 publication-title: Auton Robots contributor: fullname: Oosedo A – ident: bibr26-1756829318813633 doi: 10.2514/1.41687 – ident: bibr14-1756829318813633 doi: 10.1260/1756-8293.7.4.449 – volume: 43 start-page: 243 year: 1995 ident: bibr25-1756829318813633 publication-title: J Astronaut Sci contributor: fullname: Tsiotras P – ident: bibr24-1756829318813633 doi: 10.2514/4.861550 |
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SubjectTerms | Aircraft Airspeed Attitudes Computer simulation Constraint modelling Control systems design Controllers Experiments Flight envelopes Hovering Hovering flight Kinematics Simulation Unmanned aerial vehicles Vertical flight Vertical landing Wind tunnel testing Wind tunnels |
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Title | Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope |
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