Comparing dynamic model and flight control of plus and cross quadcopter configurations
This research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
University of Belgrade - Faculty of Mechanical Engineering, Belgrade
2022-01-01
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| Series: | FME Transactions |
| Subjects: | |
| Online Access: | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2022/1451-20922204683M.pdf |
| _version_ | 1797976648512962560 |
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| author | Mohsin Ali Khalid Abdulhady Jaber Alaa |
| author_facet | Mohsin Ali Khalid Abdulhady Jaber Alaa |
| author_sort | Mohsin Ali Khalid |
| collection | DOAJ |
| description | This research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were applied for both quadcopters. The plus-configuration creates a yaw moment when a pitch or roll control input is supplied using multi-rotor controls; however, the cross-configuration decouples pitch and roll control from yaw. However, the plus-quad showed considerable instability while rotating with a pitch and rolling due to the self-generated residual rotation of the four rotors, which is small in the cross quadcopter, making it more maneuverability stable. The obtained results showed that both quadcopters consume the same energy amount. |
| first_indexed | 2024-04-11T04:54:14Z |
| format | Article |
| id | doaj.art-4afa8f1eff784e619335713b73b227d8 |
| institution | Directory Open Access Journal |
| issn | 1451-2092 2406-128X |
| language | English |
| last_indexed | 2024-04-11T04:54:14Z |
| publishDate | 2022-01-01 |
| publisher | University of Belgrade - Faculty of Mechanical Engineering, Belgrade |
| record_format | Article |
| series | FME Transactions |
| spelling | doaj.art-4afa8f1eff784e619335713b73b227d82022-12-26T15:49:36ZengUniversity of Belgrade - Faculty of Mechanical Engineering, BelgradeFME Transactions1451-20922406-128X2022-01-0150468369210.5937/fme2204683M1451-20922204683MComparing dynamic model and flight control of plus and cross quadcopter configurationsMohsin Ali Khalid0Abdulhady Jaber Alaa1Imam Ja'afar Alsadiq University, Faculty of Information Technology, Department of Computer Engineering Technology, IraqUniversity of Technology, Mechanical Engineering Department, IraqThis research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were applied for both quadcopters. The plus-configuration creates a yaw moment when a pitch or roll control input is supplied using multi-rotor controls; however, the cross-configuration decouples pitch and roll control from yaw. However, the plus-quad showed considerable instability while rotating with a pitch and rolling due to the self-generated residual rotation of the four rotors, which is small in the cross quadcopter, making it more maneuverability stable. The obtained results showed that both quadcopters consume the same energy amount.https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2022/1451-20922204683M.pdfquadcopter configurationpid controlplus configurationcross configurationthrottle control |
| spellingShingle | Mohsin Ali Khalid Abdulhady Jaber Alaa Comparing dynamic model and flight control of plus and cross quadcopter configurations FME Transactions quadcopter configuration pid control plus configuration cross configuration throttle control |
| title | Comparing dynamic model and flight control of plus and cross quadcopter configurations |
| title_full | Comparing dynamic model and flight control of plus and cross quadcopter configurations |
| title_fullStr | Comparing dynamic model and flight control of plus and cross quadcopter configurations |
| title_full_unstemmed | Comparing dynamic model and flight control of plus and cross quadcopter configurations |
| title_short | Comparing dynamic model and flight control of plus and cross quadcopter configurations |
| title_sort | comparing dynamic model and flight control of plus and cross quadcopter configurations |
| topic | quadcopter configuration pid control plus configuration cross configuration throttle control |
| url | https://scindeks-clanci.ceon.rs/data/pdf/1451-2092/2022/1451-20922204683M.pdf |
| work_keys_str_mv | AT mohsinalikhalid comparingdynamicmodelandflightcontrolofplusandcrossquadcopterconfigurations AT abdulhadyjaberalaa comparingdynamicmodelandflightcontrolofplusandcrossquadcopterconfigurations |