Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control
In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into...
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doaj-fcf0472460764f9cac74afac10856c1d2021-02-25T00:03:17ZengMDPI AGEnergies1996-10732021-02-01141232123210.3390/en14051232Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude ControlWojciech Giernacki0Jarosław Gośliński1Jagoda Goślińska2Tadeo Espinoza-Fraire3Jinjun Rao4Institute of Robotics and Machine Intelligence, Faculty of Control, Robotics and Electrical Engineering, University of Technology, Piotrowo 3a, 60-965 Poznan, PolandAisens Sp. z o.o., Lubeckiego 23A, 60-348 Poznań, PolandDepartment of Rehabilitation and Physiotherapy, University of Medical Sciences, 28 Czerwca 1956 Str., No 135/147, 60-545 Poznań, PolandFacultad de Ingenieria, Ciencias y Arquitetura, Universidad Juarez del Estado de Durango, Universidad Str., Filadelfia, Gomez Palacio, Durango 35010, MexicoShanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaIn this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV.https://www.mdpi.com/1996-1073/14/5/1232unmanned aerial vehiclecoaxial quadrotorUAV modeldrag-like effects |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Wojciech Giernacki Jarosław Gośliński Jagoda Goślińska Tadeo Espinoza-Fraire Jinjun Rao |
spellingShingle |
Wojciech Giernacki Jarosław Gośliński Jagoda Goślińska Tadeo Espinoza-Fraire Jinjun Rao Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control Energies unmanned aerial vehicle coaxial quadrotor UAV model drag-like effects |
author_facet |
Wojciech Giernacki Jarosław Gośliński Jagoda Goślińska Tadeo Espinoza-Fraire Jinjun Rao |
author_sort |
Wojciech Giernacki |
title |
Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control |
title_short |
Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control |
title_full |
Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control |
title_fullStr |
Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control |
title_full_unstemmed |
Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control |
title_sort |
mathematical modeling of the coaxial quadrotor dynamics for its attitude and altitude control |
publisher |
MDPI AG |
series |
Energies |
issn |
1996-1073 |
publishDate |
2021-02-01 |
description |
In this paper, an easily implementable coaxial quadrotor model and its validation on data from a real unmanned aerial vehicle (UAV), are presented. The proposed mathematical model consists of two parts: description of orientation and position of the UAV in the three-dimensional space. It takes into consideration the gyroscopic effect, influence of the Coriolis force, viscous friction and a several drag-like effects (blade flapping, rotor drag, translational drag and profile drag). In contrast to multirotor models available in the literature, this one is characterized by complementarity in relation to the available control techniques. Depending on selection of these techniques, the model can be narrowed (simplified) to meet the needs without the loss of behaviour adequacy to a real UAV. |
topic |
unmanned aerial vehicle coaxial quadrotor UAV model drag-like effects |
url |
https://www.mdpi.com/1996-1073/14/5/1232 |
work_keys_str_mv |
AT wojciechgiernacki mathematicalmodelingofthecoaxialquadrotordynamicsforitsattitudeandaltitudecontrol AT jarosławgoslinski mathematicalmodelingofthecoaxialquadrotordynamicsforitsattitudeandaltitudecontrol AT jagodagoslinska mathematicalmodelingofthecoaxialquadrotordynamicsforitsattitudeandaltitudecontrol AT tadeoespinozafraire mathematicalmodelingofthecoaxialquadrotordynamicsforitsattitudeandaltitudecontrol AT jinjunrao mathematicalmodelingofthecoaxialquadrotordynamicsforitsattitudeandaltitudecontrol |
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