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Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers

Maier, Moritz (2018) Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers. In: IEEE International Conference on Intelligent Robots and Systems, pp. 5727-5734. IEEE/RSJ. IEEE/RSJ International Conference on Intelligent Robots and Systems, 1-5 Oct 2018, Madrid, Spain.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/124071/
Document Type:Conference or Workshop Item (Speech)
Title:Bidirectional Thrust for Multirotor MAVs with Fixed-Pitch Propellers
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Maier, MoritzMoritz.Maier (at) dlr.dehttps://orcid.org/0000-0002-3447-7611
Date:1 October 2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 5727-5734
Editors:
EditorsEmail
Maciejewski, Anthonyanthony.maciejewski@colostate.edu
Publisher:IEEE/RSJ
Status:Published
Keywords:multirotors, MAVs, VTOL UAVs, flying robots, bidirectional thrust, control allocation, nonlinear control
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:1-5 Oct 2018
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Maier, Moritz
Deposited On:03 Dec 2018 16:31
Last Modified:03 Dec 2018 16:31

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