Design and Modeling of an Omni-Directional Vector Thrust Hexarotor
In order to increase the flight speed of the conventional quadrotor UAV, meanwhile to keep horizontal attitude during the flight, a designing scheme of an omni-directional vector thrust hexarotor UAV is proposed in this paper. A new rotatable rotor is add
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Abstract In order to increase the flight speed of the conventional quadrotor UAV, meanwhile to keep horizontal attitude during the flight, a designing scheme of an omni-directional vector thrust hexarotor UAV is proposed in this paper. A new rotatable rotor is added in the center of the hexarotor UAV, which provides the omni-directional vector thrust by rotating centre on two orthogonal axises. The different flight modes, in which the rotatable rotor rotates to different angles, are analised. The dynamic model is established and the PID controller to the vector thrust hexarotor is designed. The simulation results show that the designed omni-directional vector thrust hexarotor UAV can keep hovering and the horizontal attitude during the uniform speed flight. Keywords Hexarotor control
Thrust vector Dynamic
model
Flight mode PID
1 Introduction The hexarotor is a kind of non-coaxial multi-rotor aircraft which can achieve vertical take-off and landing, which is suitable for the missions in middle or short distance [1–4]. Many kinds of designing and control theories of conventional rotorcraft are proposed. Two quadrotor dynamic models which are compared in simulation are introduced [5]. A new hexarotor with the structure of coaxial twin rotor is introduced in [6]. A PID + LQR controller is designed and the simulation results on the hexarotor demonstrate the effectives of the proposed attitude controller [7]. Many researches are already done in conventional rotorcraft. But conventional quadrotor flies forward through the body slopes a proper angle and the lift force has M. Zhen-qiang (&) D. Wen-han X. Wu-jie S. Peng-jie Engineering Institute of Aeronautics and Astronautics, Air Force Engineering University, Xi’an 710038, China e-mail: [email protected] © Springer Nature Singapore Pte Ltd. 2017 X. Zhang et al. (eds.), Mechanism and Machine Science, Lecture Notes in Electrical Engineering 408, DOI 10.1007/978-981-10-2875-5_24
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a forward component. So the forward thrust is small and the quadrotor can’t keep horizontal and the quadrotor has low speed and low acceleration. In order to solve the problem, the rotatable rotor is added. A design of rotatable rotor aircraft is introduced in [8] and it flies successfully. Although rotatable rotor aircraft overcomes the problem of low speed and low acceleration, it has a complex structure with low safety and low stability. An omni-directional vector thrust hexarotor is proposed in this paper. It can provide vector thrust in every direction when it keeps horizontal by rotating the tilt-rotor centre on two orthogonal axes.
2 Design of the Hexarotor In Fig. 1, the omni-directional vector thrust hexarotor which is based on conventional quadrotor adds a coaxial twin rotor which can be tilted. In Fig. 2, the added coaxial twin rotor can be rotated centre on the perch which supports the motor, and the perch can be rotated center on the center of the perch. Combining the two rotating, the coaxial twin rotor can support vector thrust
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