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Modeling and Control of a Single Rotor Composed of Two Fixed Wing Airplanes

Authors :
José Antonio Bautista-Medina
Rogelio Lozano
Antonio Osorio-Cordero
Source :
Drones, Vol 5, Iss 3, p 92 (2021)
Publication Year :
2021
Publisher :
MDPI AG, 2021.

Abstract

This paper proposes a simple flying rotor prototype composed of two small airplanes attached to each other with a rigid rod so that they can rotate around themselves. The prototype is intended to perform hover flights with more autonomy than existing classic helicopters or quad-rotors. Given that the two airplanes can fly apart from each other, the induced flow which normally appears in rotorcrafts will be significantly reduced. The issue that is addressed in the paper is how this flying rotor prototype can be modeled and controlled. A model of the prototype is obtained by computing the kinetic and potential energies and applying the Euler Lagrange equations. Furthermore, in order to simplify the equations, it has been considered that the yaw angular displacement evolves much faster than the other variables. Furthermore a study is presented to virtually create a swashplate which is a central mechanism in helicopters. Such virtual swashplate is created by introducing a sinusoidal control on the airplanes’ elevators. The torque amplitude will be proportional to the sinusoidal amplitude and the direction will be determined by the phase of the sinusoidal. A simple nonlinear control algorithm is proposed and its performance is tested in numerical simulations.

Details

Language :
English
ISSN :
2504446X
Volume :
5
Issue :
3
Database :
Directory of Open Access Journals
Journal :
Drones
Publication Type :
Academic Journal
Accession number :
edsdoj.55022e9884242978f66aaf283d03914
Document Type :
article
Full Text :
https://doi.org/10.3390/drones5030092