Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors
Unmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects manipulation. In this paper, a procedure for the pe...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/18/8786 |
| _version_ | 1797520248087248896 |
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| author | Denis Kotarski Petar Piljek Josip Kasać Dubravko Majetić |
| author_facet | Denis Kotarski Petar Piljek Josip Kasać Dubravko Majetić |
| author_sort | Denis Kotarski |
| collection | DOAJ |
| description | Unmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects manipulation. In this paper, a procedure for the performance analysis of fully actuated multirotor UAV configurations is proposed. For this purpose, a configuration is described by a control allocation scheme and implemented in the software package which enables the analysis and control implementation of a real system. The parameter analysis of the passively tilted multirotor configurations is performed based on the characteristics of the electric propulsion units, and the allocation of propulsion forces is graphically shown. The results of the proposed procedure provide an insight into the capabilities of configurations and can ultimately be used to select the propulsion system components and parameters according to the requirements and constraints associated with the specific mission profile. An experimental aircraft was built, and custom firmware was created, which enable us to experimentally prove the feasibility of fully actuated and passively tilted configurations. |
| first_indexed | 2024-03-10T07:55:02Z |
| format | Article |
| id | doaj.art-50ff923be7f1494aab32670cca46794e |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T07:55:02Z |
| publishDate | 2021-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-50ff923be7f1494aab32670cca46794e2023-11-22T11:58:10ZengMDPI AGApplied Sciences2076-34172021-09-011118878610.3390/app11188786Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted RotorsDenis Kotarski0Petar Piljek1Josip Kasać2Dubravko Majetić3Department of Mechanical Engineering, Karlovac University of Applied Sciences, 47000 Karlovac, CroatiaDepartment of Technology, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, CroatiaDepartment of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, CroatiaDepartment of Robotics and Production System Automation, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, CroatiaUnmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects manipulation. In this paper, a procedure for the performance analysis of fully actuated multirotor UAV configurations is proposed. For this purpose, a configuration is described by a control allocation scheme and implemented in the software package which enables the analysis and control implementation of a real system. The parameter analysis of the passively tilted multirotor configurations is performed based on the characteristics of the electric propulsion units, and the allocation of propulsion forces is graphically shown. The results of the proposed procedure provide an insight into the capabilities of configurations and can ultimately be used to select the propulsion system components and parameters according to the requirements and constraints associated with the specific mission profile. An experimental aircraft was built, and custom firmware was created, which enable us to experimentally prove the feasibility of fully actuated and passively tilted configurations.https://www.mdpi.com/2076-3417/11/18/8786multirotor UAV configurationcontrol allocation schemethrust forceanalysis proceduretilt angleexperimental aircraft |
| spellingShingle | Denis Kotarski Petar Piljek Josip Kasać Dubravko Majetić Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors Applied Sciences multirotor UAV configuration control allocation scheme thrust force analysis procedure tilt angle experimental aircraft |
| title | Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors |
| title_full | Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors |
| title_fullStr | Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors |
| title_full_unstemmed | Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors |
| title_short | Performance Analysis of Fully Actuated Multirotor Unmanned Aerial Vehicle Configurations with Passively Tilted Rotors |
| title_sort | performance analysis of fully actuated multirotor unmanned aerial vehicle configurations with passively tilted rotors |
| topic | multirotor UAV configuration control allocation scheme thrust force analysis procedure tilt angle experimental aircraft |
| url | https://www.mdpi.com/2076-3417/11/18/8786 |
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