Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators
Buoyancy-aided unmanned aerial vehicle (UAV) has a powerful advantage in terms of flight time and safety, compared to conventional multirotors. However, previously developed platforms showed limited flight maneuverability (i.e. omnidirectional translation) and posture transition (i.e. omniorientatio...
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9590483/ |
| _version_ | 1828923024333602816 |
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| author | Seung Hwan Song Hyouk Ryeol Choi |
| author_facet | Seung Hwan Song Hyouk Ryeol Choi |
| author_sort | Seung Hwan Song |
| collection | DOAJ |
| description | Buoyancy-aided unmanned aerial vehicle (UAV) has a powerful advantage in terms of flight time and safety, compared to conventional multirotors. However, previously developed platforms showed limited flight maneuverability (i.e. omnidirectional translation) and posture transition (i.e. omniorientational rotation) owing to lack of number of actuators or limit of design specifications. As a solution, this study presents a symmetric torus blimp, which is pierced in the middle of envelope and surrounded by four tiltable actuator. All flight-aid electric parts are located in the center of the hole to match center of buoyancy with center of mass. And four motors mounted along the edge of the hull can be tilted by each linked servo. Owing to symmetric design and sufficient number and allocation of actuators, stable independent omniorientational and omnidirectional motion during flight that standard blimp or multirotors hard to do can be easily performed. This performance can be achieved by simple feedback control algorithm based on aerodynamic model. Also, a novel control allocation based on a fully-actuated system is described for independent orientation and position control. The result of various angle tracking orientation control and stabilization control experiments performed are presented. In addition, omnidirectional control with manual control keeping orientation independently is validated. Finally, narrow space passing and omnidirectional wall interaction results are described to demonstrate the advantages of the specification of this platform. |
| first_indexed | 2024-12-13T22:30:38Z |
| format | Article |
| id | doaj.art-3d730a09e4014a65a8b102bfea9bbff8 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T22:30:38Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-3d730a09e4014a65a8b102bfea9bbff82022-12-21T23:29:05ZengIEEEIEEE Access2169-35362021-01-01914798514799310.1109/ACCESS.2021.31233559590483Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting ActuatorsSeung Hwan Song0https://orcid.org/0000-0001-8404-1018Hyouk Ryeol Choi1https://orcid.org/0000-0003-2902-7453School of Mechanical Engineering, Sungkyunkwan University, Suwon, Republic of KoreaSchool of Mechanical Engineering, Sungkyunkwan University, Suwon, Republic of KoreaBuoyancy-aided unmanned aerial vehicle (UAV) has a powerful advantage in terms of flight time and safety, compared to conventional multirotors. However, previously developed platforms showed limited flight maneuverability (i.e. omnidirectional translation) and posture transition (i.e. omniorientational rotation) owing to lack of number of actuators or limit of design specifications. As a solution, this study presents a symmetric torus blimp, which is pierced in the middle of envelope and surrounded by four tiltable actuator. All flight-aid electric parts are located in the center of the hole to match center of buoyancy with center of mass. And four motors mounted along the edge of the hull can be tilted by each linked servo. Owing to symmetric design and sufficient number and allocation of actuators, stable independent omniorientational and omnidirectional motion during flight that standard blimp or multirotors hard to do can be easily performed. This performance can be achieved by simple feedback control algorithm based on aerodynamic model. Also, a novel control allocation based on a fully-actuated system is described for independent orientation and position control. The result of various angle tracking orientation control and stabilization control experiments performed are presented. In addition, omnidirectional control with manual control keeping orientation independently is validated. Finally, narrow space passing and omnidirectional wall interaction results are described to demonstrate the advantages of the specification of this platform.https://ieeexplore.ieee.org/document/9590483/Unmanned aerial vehiclehellium-filled blimpbuoyancytilting actuatorsoft drone |
| spellingShingle | Seung Hwan Song Hyouk Ryeol Choi Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators IEEE Access Unmanned aerial vehicle hellium-filled blimp buoyancy tilting actuator soft drone |
| title | Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators |
| title_full | Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators |
| title_fullStr | Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators |
| title_full_unstemmed | Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators |
| title_short | Design, Control and Implementation of Torus-Type Omniorientational Blimp With Tilting Actuators |
| title_sort | design control and implementation of torus type omniorientational blimp with tilting actuators |
| topic | Unmanned aerial vehicle hellium-filled blimp buoyancy tilting actuator soft drone |
| url | https://ieeexplore.ieee.org/document/9590483/ |
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