Maier, Moritz (2018) Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Seiten 5727-5734. IEEE/RSJ. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018-10-01 - 2018-10-05, Madrid, Spain. doi: 10.1109/iros.2018.8593836. ISBN 978-153868094-0. ISSN 2153-0858.
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Kurzfassung
This paper is devoted to the study of multirotor Micro Aerial Vehicles (MAVs) with fixed-pitch propellers and bidirectional thrust vector. The latter is realized by using dedicated motor controllers, which allow to invert the propellers' direction of rotation during flight (so-called 3D mode), and almost or fully symmetric propellers. We present a unified modeling, controller design, and control allocation approach that accounts for bidirectional thrust. Suitable propellers with the ability to produce thrust and torque in both directions are compared and their parameters are identified through a static thrust test. Furthermore, we discuss applications of bidirectional thrust, like inverted flight or surface slip reduction, which are impossible to realize with common unidirectional thrust vehicles. We generate suitable flight trajectories and evaluate our unified approach in experiments with a custom-built quadrotor.
elib-URL des Eintrags: | https://elib.dlr.de/124071/ | ||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||
Titel: | Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers | ||||||||
Autoren: |
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Datum: | 1 Oktober 2018 | ||||||||
Erschienen in: | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 | ||||||||
Referierte Publikation: | Ja | ||||||||
Open Access: | Nein | ||||||||
Gold Open Access: | Nein | ||||||||
In SCOPUS: | Ja | ||||||||
In ISI Web of Science: | Ja | ||||||||
DOI: | 10.1109/iros.2018.8593836 | ||||||||
Seitenbereich: | Seiten 5727-5734 | ||||||||
Herausgeber: |
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Verlag: | IEEE/RSJ | ||||||||
ISSN: | 2153-0858 | ||||||||
ISBN: | 978-153868094-0 | ||||||||
Status: | veröffentlicht | ||||||||
Stichwörter: | multirotors, MAVs, VTOL UAVs, flying robots, bidirectional thrust, control allocation, nonlinear control | ||||||||
Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||
Veranstaltungsort: | Madrid, Spain | ||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||
Veranstaltungsbeginn: | 1 Oktober 2018 | ||||||||
Veranstaltungsende: | 5 Oktober 2018 | ||||||||
Veranstalter : | IEEE/RSJ | ||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||
HGF - Programm: | Raumfahrt | ||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||
Standort: | Oberpfaffenhofen | ||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||
Hinterlegt von: | Maier, Moritz | ||||||||
Hinterlegt am: | 03 Dez 2018 16:31 | ||||||||
Letzte Änderung: | 24 Apr 2024 20:28 |
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