نوع مقاله : مقاله پژوهشی
نویسندگان
دانشکده مهندسی هوافضا، دانشگاه صنعتی مالک اشتر
چکیده
کلیدواژهها
عنوان مقاله [English]
نویسندگان [English]
This study aims to improve operational efficiency and enhance the flight performance of variable pitch Quadrotors in hover with the scope of achieving sustainable inverted flight, or fulfilling a special mission in automated mass flights. The objectives of this study, a robust control system design for a candidate variable pitch quad rotors is paced classically. The methodology is based on mathematical modeling developments extracted specifically for a candidate variable pitch Quadrotors. Trim calculation and linearization of equations along with \ design, implementation and integration of a robust controller \ for the quad \ rotor are therefore \ following \ steps in this study. The challenges associated with the dynamic modeling of rotors, aerodynamic modeling
in small \ Reynolds numbers \ and \ modeling of the \ electric \ propulsion system are removed \ using \ the Blade \ Element-Momentum Theory (BEMT). To improve the performance, two control loops including an attitude control system and a control motion were implemented using H
uncertainty relevant to the aerodynamic coefficients. Results also revealed that the stabilized inverted flight as a novel ability of operation in variable pitch Quadrotors could be obtained. In both approaches Bilin transformation is aimed to pole shifting and avoidance of singularity in H
)
