Bandwidth Assessment for MultiRotor UAVs

Ferrarese, Gastone

doi:10.1515/ama-2017-0023

Abstract

This paper is a technical note about the theoretical evaluation of the bandwidth of multirotor helicopters. Starting from a mathematical linear model of the dynamics of a multirotor aircraft, the transfer functions of the state variables that deeply affect the stability characteristics of the aircraft are obtained. From these transfer functions, the frequency response analysis of the system is effected. After this analysis, the bandwidth of the system is defined. This result is immediately utilized for the design of discrete PID controllers for hovering flight stabilization. Numeric simulations are shown to demonstrate that the knowledge of the bandwidth is a valid aid in the design of flight control systems of these machines.

References

1. Crowther B., Lanzon A., Maya-Gonzalez M., Langkamp D. (2011), Kinematic Analysis and Control Design for a Nonplanar, Journal of Guidance Control and Dynamics, 34(4):1157-1171.10.2514/1.51186
Search in Google Scholar Back to article
2. Das A., Lewis K. S. (2009), Dynamic Inversion with Zero-Dynamics Stabilisation for Quadrotor Control, IEEE Proceedings Control Theory and Application, 3(3), 303-314.10.1049/iet-cta:20080002
Search in Google Scholar Back to article
3. Du G., Quan Q., Yang B., Cai K. (2015), Controllability Analysis for Multirotor Helicopter Rotor Degradation and Failure, Journal of Guidance Control and Dynamics, 38(5): 978-984.10.2514/1.G000731
Search in Google Scholar Back to article
4. Ferrarese G. (2015), Dynamics and Control Issues of Multi—Rotor Platforms, PhD Thesis, University of Bologna, Italy.
Search in Google Scholar Back to article
5. Ferrarese G. (2016), PID Augmented Stability of Multi—Rotor Helicopters, MAYFEB Journal of Control and Systems Engineering, Vol. 1, 1-22.
Search in Google Scholar Back to article
6. Ferrarese G. (2017), Natural Motion of a Multi—Rotor Aircraft, Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering (SAGE Journals), Research Article First Published online: January 5, 2017.
Search in Google Scholar Back to article
7. Koszewnik A. (2014), The Parrot UAV Controlled by PID Controllers, Acta Mechanica et Automatica, 8(2), 65-69.10.2478/ama-2014-0011
Search in Google Scholar Back to article
8. Magnani G., Ferretti G. and Rocco P. (2007) Tecnologie dei sistemi di controllo, 2nd Ed, McGraw-Hill Italia.
Search in Google Scholar Back to article
9. Mahony R., Kumar V., Corke P. (2012), Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor, IEEE, Robotics & Automation Magazine, 10(3), 20 – 32.10.1109/MRA.2012.2206474
Search in Google Scholar Back to article
10. McLean D. (1990), Automatic Flight Control Systems, Prentice Hall.
Search in Google Scholar Back to article
11. Padfield G.D. (1996), Helicopter Flight Dynamics, 2^nd Ed. Blackwell Science Ltd.
Search in Google Scholar Back to article
12. Pounds P., Mahony R. and Corke P. (2010), Modelling and Control of a Large Quadrotor Robot, Control Engineering Practice, 18(7), 691-699.10.1016/j.conengprac.2010.02.008
Search in Google Scholar Back to article
13. Raffo G.V., Ortega M. G., Rubio F. R. (2009), An integral predictive/nonlinear H infinity control structure for a quadrotor helicopter, Automatica, 46, 29–39.
Search in Google Scholar Back to article
14. Sa I., Corke P. (2011) Estimation and Control for an Open-Source Quadcopter, Proceedings of Australasian Conference on Robotics and Automation, Monash University, Melbourne, Australia.
Search in Google Scholar Back to article
15. Stepaniak M.J., van Graas F., de Haag M.U. (2009), Design of an Electric Propulsion System for a Quadrotor Unmanned Aerial Vehicle, Journal of Aircraft, 46(3), 1050-1058.10.2514/1.38409
Search in Google Scholar Back to article

Bandwidth Assessment for MultiRotor UAVs

Abstract

Paradigm

My account