The Stability Analysis of Quadrotor Unmanned Aerial Vechicles
The problems of dynamic stability of the quadrotor Unmanned Aerial Vehicles (UAV), such as: cornering, wear, and explosion of oar take place due to the aerodynamic force and gyroscopic effect during takeoff and landing process; the vibration; reduction of
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Abstract The problems of dynamic stability of the quadrotor Unmanned Aerial Vehicles (UAV), such as: cornering, wear, and explosion of oar take place due to the aerodynamic force and gyroscopic effect during takeoff and landing process; the vibration; reduction of instruction tracking accuracy; and out of control are prone to take place due to the influence of atmospheric turbulence and motion coupling during yawing. However, the optimized structural parameters of the aircraft is very important for improving the stability of the motion control and the energy saving. Therefore, the relationship of quantification between structural parameter of quadrotor UAV and dynamic stability is built with the method of Lyapunov exponent starting from structure design of mechanical, which guides the mechanicalstructural design and provides important basis for optimizing the control system. This relationship lays a basic foundation for enhancing the reliability and stability for the flight mission. Compared with the direct method of Lyapunov, the method of Lyapunov exponent is easier to build, and the calculation process is simpler. Keywords Quadrotor unmanned aerial vehicles Dynamic stability Lyapunov exponent
Take-off Landing Yawing
Y. Liu (&) X. Li Y. Zhang P. Mei Jiangsu Collaborative Innovation Center on Atmospheric Environment and Equipment Technology, Nanjing University of Information Science and Technology, Nanjing 210044, China Y. Liu T. Wang College of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics Robot Research Institute, Beijing 100191, China © Zhejiang University Press and Springer Science+Business Media Singapore 2017 C. Yang et al. (eds.), Wearable Sensors and Robots, Lecture Notes in Electrical Engineering 399, DOI 10.1007/978-981-10-2404-7_30
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1 Introduction As is well known, the quadrotor Unmanned Aerial Vehicles (UAV) offers superior properties, such as small volume, high mobility, and vertical take-off; landing over a wide range of operating conditions, makes it an attractive option in executing flight tasks, such as: dropping the bomb, detecting the atmospheric pressure, carrying goods, and so on (Bai et al. 2012). However, the problems of dynamic stability of the quadrotor UAV, such as cornering, wear, and explosion of oar are prone to take place due to the aerodynamic force and gyroscopic effect. At the stage of takeoff and landing, the probability of the flight accident is greatly increased and the proportion of the total accident rate is as high as 60–75 % due to the complex air flow of the ground (Xu 2011). At the stage of yawing, the instability of quadrotor UAV leads to the increased probability of the flight accident as a result of the influence of air turbulences and Dutch rolls (Xiao 2014). Research on the dynamic stability should be done for the quadrotor UAV because of the high value of devices and the danger for the ground of the crash. The dynamic stability is the natural system of returning to the correct t
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