TY - JOUR
T1 - A novel experimental model and a drag-optimal allocation method for variable-pitch propellers in multirotors
AU - Arellano-Quintana, Victor Manuel
AU - Merchan-Cruz, Emmanuel Alejandro
AU - Franchi, Antonio
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2018
Y1 - 2018
N2 - This paper proposes a new mathematical model to map the rotational speed and angle of attack (pitch) of small-size propellers typically used in multirotors and the aerodynamic thrust force and drag moment produced by the propeller itself. The new model is inspired by standard models using the blade-element and momentum theories, which have been suitably modified in order to allow for explicit fast computation of the direct and inverse map (useful for high-frequency control) and obtain a better adherence to experimental data. The new model allows and captures all the main nonlinear characteristics of the thrust/drag generation. An extensive experimental comparison shows that the prediction capability of the proposed model outperforms the most commonly used models at date. In the second part of the paper, two optimization methods are proposed in order to exploit the redundancy of the inputs of variable-pitch propellers to decrease the power consumption due to the drag dissipation. The first method deals with the optimal allocation for thrust generation on a single propeller, while the second method is aimed at solving the optimal allocation of the rotational speed and pitch of all the propellers in a multi-rotor with any number of propellers. Simulations results show the viability and effectiveness of the proposed methods.
AB - This paper proposes a new mathematical model to map the rotational speed and angle of attack (pitch) of small-size propellers typically used in multirotors and the aerodynamic thrust force and drag moment produced by the propeller itself. The new model is inspired by standard models using the blade-element and momentum theories, which have been suitably modified in order to allow for explicit fast computation of the direct and inverse map (useful for high-frequency control) and obtain a better adherence to experimental data. The new model allows and captures all the main nonlinear characteristics of the thrust/drag generation. An extensive experimental comparison shows that the prediction capability of the proposed model outperforms the most commonly used models at date. In the second part of the paper, two optimization methods are proposed in order to exploit the redundancy of the inputs of variable-pitch propellers to decrease the power consumption due to the drag dissipation. The first method deals with the optimal allocation for thrust generation on a single propeller, while the second method is aimed at solving the optimal allocation of the rotational speed and pitch of all the propellers in a multi-rotor with any number of propellers. Simulations results show the viability and effectiveness of the proposed methods.
KW - Aerial vehicles
KW - multirotors
KW - systems identification
KW - variable-pitch propellers
UR - http://www.scopus.com/inward/record.url?scp=85056169519&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2018.2879636
DO - 10.1109/ACCESS.2018.2879636
M3 - Artículo
SN - 2169-3536
VL - 6
SP - 68155
EP - 68168
JO - IEEE Access
JF - IEEE Access
M1 - 8523671
ER -