4/5/2023 0 Comments Variable pitch quad copter![]() ![]() To further increase the versatility of quadrotors, recent works investigated the use of an adaptive morphology, which consists of modifying the shape of the vehicle during flight to suit a specific task or environment. The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging applications. Further, the proposed shape-changing UAV system is evaluated by comparative numerical simulations for way point navigation mission and complex trajectory tracking. A detailed information on equations of motion, flight controller design and possible applications of this system are provided. The movement space of the CoG is a design parameter and it is bounded by actuator limitations and stability requirements of the system. The UAV utilizes the angular motion of propellers and variable quadcopter arm lengths for position and navigation control. The MoI parameters are computed in real-time and incorporated in the equations of motion of the system. The length of quadcopter arms is a variable parameter, and it is actuated using attitude feedback-based control law. These dynamic structural parameters play a vital role in the stability and control of the system. We consider a dynamic center of gravity (CoG) which causes continuous variation in a moment of inertia (MoI) parameters of the UAV in this design. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. After that it would fly like a normal helicopter in idle 1įor the tail, you'd need to mount 4 servo's and connect them all in parallel to the rudder output of a gyro.The conceptual design and flight controller of a novel kind of quadcopter are presented. ![]() This would be an idle up setup.Īrm board, bring up to center stick (0 degrees) then fire motor/motors (some kind of reduced throttle throw (like landing gear on a 9303 radio) or govenor mode for the esc/esc's to smoothly bring up to speed. Then connect the outputs of the mulitwii board to the servo's. I'd run up the motors in a throttle curve bypassing the mulitwii control board. Then have 2 more bearings inside the boom to keep the modded TT gear centered and steady. A larger bearing system on the outer side (trex500 boom), then a modified TT drive gear driven directly off the motor shaft. Obviously i'm looking for a 3d quad and it won't have any camera gear on it.įor the rotating boom i'm currently imagining a similar system to the scarab v2 camera gimble/tricoter rear leg ( ). I'm wanting 3 booms to rotate to make a fast yaw rate. I have the scarab tricopter right now and the yaw rate with only one boom rotating it is slow. Another design aspect i'd like to include is a rotating boom. One option is how the OP did it, another would bo some kind of a direct drive off the end of the TT shaft (TT drives seem the easiest). I'd use a vbar to run each of the legs (3 legs would be the same configuration as a swashplate), you'd need to run tailbooms and tailrotors from a helicopter (i'm going to go with the trex 500 size myself).ĭriving them would take a bit of designing. I've been thinking of this for a while also. I'd really like to see how the maingears inter lock with one another to drive all the arms, inner workings between the plates as i'd like a single motor also. Great job on the fabrication OP, that modular system looks great. Im not sure if the power is the correct stat to be looking at or not any tips,comments, references to similar builds or anything at all would be much appreciated While the motor that i have has a max power of 1640W The 450 equivalent motor from scorpion has a max power of 525W The way im thinking of it is i have 4 sets of 450 heli blades so i need 4 times the motor of a 450 heli. When completed it should weigh in around 5-6.5 lbs with battery and all however i would like to eventually lift a camera and other payloads with it I have a scorpion HK-4020-1100KV motor laying around and would like to use it if possible however im thinking it may not be able to handle it. It will be running 4 sets of 315 blades off of one motor. I am trying to go with a single engine design but have questions on which engine to use. ![]() When in manual mode it will be flown using an xbox controller plugged into my computer. I am not using traditional RC electronics but rather an arduino board as a receiver so that it is able to fly autonomously. Basically all i am using is the tail end of each kit and creating a hub for them all to be attached to. Starting a new project of splicing together 4 guai 425 kits into a quad copter. ![]()
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