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Article: Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope
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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Authors | |
Keywords | flight experiment simulation tail-sitter unmanned aerial vehicle Vertical take-off and landing wide flight envelope |
Issue Date | 2018 |
Publisher | SAGE Publications (UK and US): Open Access Titles. The Journal's web site is located at http://mav.sagepub.com/ |
Citation | International Journal of Micro Air Vehicles, 2018, v. 10, p. 303-317 How to Cite? |
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. |
Persistent Identifier | http://hdl.handle.net/10722/266441 |
ISSN | 2023 Impact Factor: 1.5 2023 SCImago Journal Rankings: 0.371 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Lyu, X | - |
dc.contributor.author | Gu, H | - |
dc.contributor.author | Zhou, J | - |
dc.contributor.author | Li, Z | - |
dc.contributor.author | Shen, S | - |
dc.contributor.author | Zhang, F | - |
dc.date.accessioned | 2019-01-18T08:19:42Z | - |
dc.date.available | 2019-01-18T08:19:42Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | International Journal of Micro Air Vehicles, 2018, v. 10, p. 303-317 | - |
dc.identifier.issn | 1756-8293 | - |
dc.identifier.uri | http://hdl.handle.net/10722/266441 | - |
dc.description.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. | - |
dc.language | eng | - |
dc.publisher | SAGE Publications (UK and US): Open Access Titles. The Journal's web site is located at http://mav.sagepub.com/ | - |
dc.relation.ispartof | International Journal of Micro Air Vehicles | - |
dc.rights | This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License. | - |
dc.subject | flight experiment | - |
dc.subject | simulation | - |
dc.subject | tail-sitter | - |
dc.subject | unmanned aerial vehicle | - |
dc.subject | Vertical take-off and landing | - |
dc.subject | wide flight envelope | - |
dc.title | Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope | - |
dc.type | Article | - |
dc.identifier.email | Zhang, F: fuzhang@hku.hk | - |
dc.identifier.authority | Zhang, F=rp02460 | - |
dc.description.nature | published_or_final_version | - |
dc.identifier.doi | 10.1177/1756829318813633 | - |
dc.identifier.scopus | eid_2-s2.0-85058673300 | - |
dc.identifier.hkuros | 296495 | - |
dc.identifier.volume | 10 | - |
dc.identifier.spage | 303 | - |
dc.identifier.epage | 317 | - |
dc.identifier.isi | WOS:000453595400001 | - |
dc.publisher.place | United Kingdom | - |
dc.identifier.issnl | 1756-8293 | - |