Modelling and Daisy Chaining Control Allocation of a Multirotor Helicopter with a Single Tilting Rotor

被引：5
|
作者：
Porter, Robert [1 ]
Shirinzadeh, Bijan [1 ]
Choi, Man [1 ]
机构：
[1] Monash Univ, Robot & Mechatron Res Lab, Dept Mech & Aerosp Engn, Clayton, Vic 3800, Australia
来源：
ELECTRONICS | 2016年 / 5卷 / 04期
关键词：
unmanned aerial vehicles; multirotor helicopter; tilt-rotor; control allocation; QUADROTOR; AIRCRAFT;
D O I：
10.3390/electronics5040081
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the development and implementation of a single tilting rotor multirotor helicopter. A single tilting rotor multirotor helicopter is proposed that allows for decoupled lateral acceleration and attitude states. A dynamics model of the proposed multirotor helicopter is established to enable control system development. A control system architecture and daisy chaining-based control allocation scheme is developed and implemented. The control architecture facilitates the control of decoupled lateral accelerations and attitudes. Further, a computational and experimental analysis is undertaken and offers evidence that the proposed multirotor helicopter and control system architecture enables the multirotor helicopter to achieve lateral accelerations without requiring attitude actuation.
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页数：18
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