Dynamic Modeling and Stabilization Techniques for Tri-Rotor Unmanned Aerial Vehicles
Dong-Wan Yoo/Hyon-Dong Oh/Dae-Yeon Won/Min-Jea Tahk
International Journal of Aeronautical and Space Sicences, vol. 11, no. 3, pp.167-174, 2010
Abstract : The design, dynamics, and control allocation of tri-rotor unmanned aerial vehicles (UAVs) are introduced in this paper. A tri-rotor UAV has three rotor axes that are equidistant from its center of gravity. Two designs of tri-rotor UAV are introduced in this paper. The single tri-rotor UAV has a servo-motor that is installed on one of the three rotors, which enables rapid control of its motion and its various attitude changes–unlike a quad-rotor UAV that depends only on the angular velocities of four rotors for control. The other design is called ¡®coaxial tri-rotor UAV,¡¯ which has two rotors installed on each rotor axis. Since the tri-rotor type of UAV has the yawing problem induced from an unpaired rotor¡¯s reaction torque, it is necessary to derive accurate dynamic and design control logic for both single and coaxial tri-rotors. For that reason, a control strategy is proposed for each type of tri-rotor, and nonlinear simulations of the altitude, Euler angle, and angular velocity responses are conducted by using a classical proportional-integral-derivative controller. Simulation results show that the proposed control strategies are appropriate for the control of single and coaxial tri-rotor UAVs.
Keyword : Tri-rotor, Control strategy, Attitude control system design |