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I. INTRODUCTION
In recent years, there has been rapid development of
unmanned aircraft systems equipped with autonomous
control devices called unmanned aerial vehicles (UAVs) and
micro aerial vehicles (MAVs). UAVs offer major advantages
when used for aerial surveillance, reconnaissance, and
inspection in complex and dangerous environments. The
expansion of the usage of UAVs results from low downside
risk and higher confidence in mission success than manned
aircraft. Furthermore, many other technological and
economic factors have encouraged the development and
operation of UAVs. The miniaturization technologies
together with a new sensors, embedded control systems,
advanced communication and specific control algorithms
have stimulated the development of a many new small
Unmanned Aerial Vehicles (UAVs) [1-9], [14-24]. However,
many constraints such as weight, size and power
consumption play an important role in unmanned systems
efficiency, particularly in the Vertical Take-off and Landing
(VTOL) platforms. Improved performance expected from the
new generation of VTOL vehicles is possible through
derivation and implementation of specific control techniques
[2-13], [19], [21], [26] incorporating limitations related to
sensors and actuators.
Multi-rotors are highly maneuverable, have the potential
to hover and to take-off, fly, and land in small areas, and have
a simple control mechanism. They are designed in various
configurations including bi-rotor, tri-rotor, quad-rotor, hexarotor, octo-rotor, etc [1-9], [14-24]. From these types of
design, the hexa-rotor in the configuration of co-axial trirotor, is the main concern of this paper. Presented platform
called Y6 is a Y-shaped letter, which means that it has three
equally spaced arms ending with drive units. Three rotor axes
are equidistant from its center of gravity. The shape of the
frame causes that the UAV motion will be based on the
forces and torques generated by the drive units placed on the
vertices of an equilateral triangle.
The motivation of this development is the design of a
MAV to participate in the 2014 edition of the International
Micro Air Vehicle Conference and Flight Competition
(IMAV). The IMAV is the most famous European annual
event that combines a scientific conference with a
technological competition in the field of autonomous aerial
vehicles and small Remotely Piloted Air Systems (sRPAS).
Such combination allows researcher groups from all over the
world to share their knowledge, and stimulates them to focus
on research that can be used in real life scenarios. Every year
the competition scenarios become more advanced and more
challenging. However, competitors are given the opportunity
to either do complete missions, or to focus on sub-elements
of the mission scenario. Our team brings together students
and UAV enthusiasts from different departments of the
Silesian University of Technology. Our motivation for
participating in such competitions is to develop a sRPAS
with high level of autonomy which can be later modified for
civilian applications.
This paper is intended to present and describe the co-axial
Y6-Rotor UAV designed taking into account the principles
and limitations resulting from the competition rules. The
layout of the paper is following. First, the introduction is
provided in section I. The motivation and general rules of
2014 IMAV are presented in section II. Then, the concept of
the Y6 platform with an explanation of the control strategy is
presented in section III. In section IV, the mathematical
modeling including the rigid body equations of motion with a
control allocation, and co-axial rotor aerodynamics for the
purpose of propellers and motor selection are explained. The
empirical measurements of co-axial rotor performed on the
test bench are presented in section V. The next section
presents a rapid prototyping of the mechanics, avionics
architecture, and finally practical realization of the co-axial
Y6-Rotor. Finally, the section VII provides the conclusions
and also guidelines for future work.
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(1)
where:
(2)
where:
- largest dimensiton of MAV that performed mission
n in centimeters,
- Dimenstion of 100cm.
X: 50
Y: 1.75
Size factor
1.5
X: 100
Y: 1
0.5
0
20
40
60
80
100
Maximum dimension Ln [cm]
Figure 1.
120
140
Size factor.
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2) Moment equations
where:
0
0
0
0
0
0
0 inertia matrix
1
0
0
3) Kinematic equations
Figure 2.
0
0
0
0
0
(4)
(5)
!
" $
#
(6)
(7)
$
where:
(8)
fi
*
)
)
)
(
(9)
c 30
c 30
c 60
c 60
(10)
(3)
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Figure 4.
Figure 3.
u1 1 0 1 1
u 1 0 1 1 u
2
col
u3 1 1 1 1 u
=
u4 1 1 1 1 u
u5 1 1 1 1 u
u6 1 1 1 1
(12)
The thrust of the upper rotor under the hover mode is:
Tu = 2 Au vu2
(11)
(13)
where: -air density, vu-induced velocity of upper rotor, Auupper disc area.
Let us consider now the area of the upper rotor that
covers the lower one and denote one as Au because in
practice the wake contraction may be different from the ideal
case of vena contracta equals Au/2. However, the ideal case
represents the minimum induced lost value for the coaxial
system. At the plane of lower rotor in the area Au the
velocity is 2vu+vl. Over the outer part of a lower disk area
the induced velocity is vl. In the fully developed slipstream
of a lower part of coaxial propulsion the velocity is wl. The
air mass flow through the first disc is Auvu which gives the
induced power:
where:
ui control input of motor,
i=1,,6 motor number,
ucol collective control command,
u - lateral control command,
u - longitudinal control command,
u - yaw control command.
B. Co-Axial Rotor Aerodynamics
Highly desirable feature of coaxial propulsion unit is a
torque balance which is simply achieved by each pair of
rotors. The performance of a coaxial rotor system for the
purpose of mini UAV development can be examined with
Pu = 2 Au vu3
(14)
The air mass flow through the inner and outer parts of the
lower rotor are:
1105
(15)
(16)
0.89
lower prop. const - 8 inches
upper prop. const - 8 inches
0.88
0.87
Pl = Tl ( 2vu + vl )
(17)
0.86
Tc/Ts
0.85
0.84
1
1
Pl = (m& f wl2 ) Au vu ( 2vu )2 =
2
2
1
= ( Au vu + Al vl ) wl2 2 Au vu3
2
0.83
(18)
0.82
0.81
6.5
7.5
8.5
9.5
10
Figure 5.
1
Pl = ( 2 Au vu + Al vl )wl2
4
110
(19)
105
100
= ( 2 Au vu + Al vl )( 2 vu + vl ) wl vu
Pu+Pl [W]
P(
l 2 vu + vu + vl ) =
95
(20)
90
85
80
75
4vu ( 2 vu + vl )
2 vu + vu + vl
70
65
(21)
60
6.5
7.5
8.5
9.5
10
Figure 6.
3
u u
2 A v =
= ( Au vu +
1
Al vl
2
4v ( 2 vu + vl )
3
) u
2 Au vu
2 vu + vu + vl
(22)
2Alvl3 + vl2 ( 8 Al vu + 4 Au vu Au vu ) +
+2vl ( 4 Al 2 vu2 + 8 Au 2 vu2 2 Au vu2 Au vu2 ) +
3
u
(23)
+v ( 16 Au 4 Au 4 Au Au ) = 0
Solving numerically the cubic equation given above, the
induced velocity vl can be obtained, then the thrust force for
the lower rotor can be calculated. Using the parameter =0.5
the ideal case of lower rotor operating in the vena contracta
of the upper rotor slipstream at its half area can be
investigated. Using the given formulas we can consider
1106
MOTOR PARAMETERS
Type
Nominal Voltage in Cells
KV Electromotive Force
Constant
Power
Length
Diameter
Shaft diameter
Weight
Figure 7.
Test bench.
Figure 8.
IBM2215-13
2-4S
850 RPM/min/V
187W
26 mm
28 mm
3.15 mm
56g
B. Test Results
In this section, we present the results of experiments
conducted on the previously described test bench, in order to
compare the propulsion system consisting of a pair of
coaxial rotors with conventional single rotor one. During
the tests we were changing the values of the duty cycles of
PWM signal, in the range of 0.4 0.8 which corresponds
with the range 0-100%. There are three measured values:
thrust of the propulsion systems, current consumption of
each motor and their rotational speed. In addition, using a
vane anemometer, which was attached to a tripod, the
airflow rate was measured behind the propulsion system.
Due to the high sensitivity of the load cell, measurement
noises and other disturbances occurring in the gathered data,
in the first step of post-processing, it was necessary to carry
out an appropriate filtering of the measuring signals. For this
purpose, we used the Savitsky-Golay filter, with following
parameters: the polynomial order was 5, and the frame size
equal to 41. The results of filtering are shown in Fig. 9.
Figure 9.
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thrust [kg]
airflow [m/s]
power [W]
COMPARATIVE RESULTS
DUTY CYCLE
0.5
DUTY CYCLE
0.65
DUTY CYCLE
0.8
single
0.16
7.14
38.68
single
0.71
14.39
44.41
single
1.71
21.70
58.39
coax
0.27
7.48
40.06
coax
1.26
15.13
51.81
coax
2.98
22.50
73.25
VI. Y6 PLATFORM
A. Mechanical Design
The main inspiration for the first mechanical prototype
which was also proof of concept in our project, was an
IMAV 2011 award winning MAV designed by William
Thielicke called Shrediquette BOLT. It is presented in
Fig.14.
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1109
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pitch of the rotors blade, and diameter (larger upper smaller lower, conversely, the same),
distance between the rotors.
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
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