Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors
This paper presents the design, analysis and experimental testing of a variable- pitch quadrotor. A custom in-lab built quadrotor with on-board attitude stabi- lization is developed and tested. An analysis of the dynamic di erences in thrust output between a xed-pitch and variable-pitch propelle...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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American Institute of Aeromautics and Astronautics
2013
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| Online Access: | http://hdl.handle.net/1721.1/82028 https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0003-0776-7901 |
| _version_ | 1826196178773999616 |
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| author | Cutler, Mark Johnson Ure, Nazim Kemal Michini, Bernard J. How, Jonathan P. |
| author2 | Massachusetts Institute of Technology. Aerospace Controls Laboratory |
| author_facet | Massachusetts Institute of Technology. Aerospace Controls Laboratory Cutler, Mark Johnson Ure, Nazim Kemal Michini, Bernard J. How, Jonathan P. |
| author_sort | Cutler, Mark Johnson |
| collection | MIT |
| description | This paper presents the design, analysis and experimental testing of a variable-
pitch quadrotor. A custom in-lab built quadrotor with on-board attitude stabi-
lization is developed and tested. An analysis of the dynamic di erences in thrust
output between a xed-pitch and variable-pitch propeller is given and validated
with simulation and experimental results. It is shown that variable-pitch actuation
has signi cant advantages over the conventional xed-pitch con guration, includ-
ing increased thrust rate of change, decreased control saturation, and the ability to quickly and e ciently reverse thrust. These advantages result in improved quadro-tor tracking of linear and angular acceleration command inputs in both simulation and hardware testing. The bene ts should enable more aggressive and aerobatic ying with the variable-pitch quadrotor than with standard xed-pitch actuation, while retaining much of the mechanical simplicity and robustness of the xed-pitch quadrotor. |
| first_indexed | 2024-09-23T10:22:46Z |
| format | Article |
| id | mit-1721.1/82028 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:22:46Z |
| publishDate | 2013 |
| publisher | American Institute of Aeromautics and Astronautics |
| record_format | dspace |
| spelling | mit-1721.1/820282022-09-26T17:30:29Z Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors Cutler, Mark Johnson Ure, Nazim Kemal Michini, Bernard J. How, Jonathan P. Massachusetts Institute of Technology. Aerospace Controls Laboratory Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Cutler, Mark Johnson Ure, Nazim Kemal Michini, Bernard J. How, Jonathan P. This paper presents the design, analysis and experimental testing of a variable- pitch quadrotor. A custom in-lab built quadrotor with on-board attitude stabi- lization is developed and tested. An analysis of the dynamic di erences in thrust output between a xed-pitch and variable-pitch propeller is given and validated with simulation and experimental results. It is shown that variable-pitch actuation has signi cant advantages over the conventional xed-pitch con guration, includ- ing increased thrust rate of change, decreased control saturation, and the ability to quickly and e ciently reverse thrust. These advantages result in improved quadro-tor tracking of linear and angular acceleration command inputs in both simulation and hardware testing. The bene ts should enable more aggressive and aerobatic ying with the variable-pitch quadrotor than with standard xed-pitch actuation, while retaining much of the mechanical simplicity and robustness of the xed-pitch quadrotor. Aurora Flight Sciences Corp. National Science Foundation (U.S.) (Graduate Research Fellowship Grant 0645960) 2013-11-07T20:16:08Z 2013-11-07T20:16:08Z 2011-08 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/82028 Mark Cutler, Nazim-Kemal Ure, Bernard Michini, and Jonathan How. "Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors" AIAA Guidance, Navigation, and Control Conference (August 2011) https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0003-0776-7901 en_US http://dx.doi.org/10.2514/6.2011-6406 Proceedings of the AIAA Guidance, Navigation, and Control Conference Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf American Institute of Aeromautics and Astronautics MIT web domain |
| spellingShingle | Cutler, Mark Johnson Ure, Nazim Kemal Michini, Bernard J. How, Jonathan P. Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors |
| title | Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors |
| title_full | Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors |
| title_fullStr | Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors |
| title_full_unstemmed | Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors |
| title_short | Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors |
| title_sort | comparison of fixed and variable pitch actuators for agile quadrotors |
| url | http://hdl.handle.net/1721.1/82028 https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0003-0776-7901 |
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