Investigation of the Dynamics and Modeling of a Triangular Quadrotor Configuration
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
In this paper the dynamics of a new type of quadrotor configuration, called Y4, is investigated. The configuration is proposed to be more energy efficient than the traditional design where four rotors are placed around the center of the aircraft frame. This by taking advantage of the benefits of a larger centered rotor in order to produce more lift. A complete mathematical model of the configuration is derived and modeled in the software Simulink. Different control laws is then developed and derived in order to control the Y4, starting with a simple PID control and then moving to non linear control methods using Lyapunov theory. The dynamics of the Y4 is then investigated by simulating different maneuvers, starting with hover and then continuing with attitude, altitude and position maneuvers. The Y4 is shown to be controllable but is less responsive than a typical quadrotor. It show more dynamics of an ordinary helicopter. The conclusion is that the Y4 might have a place in aeronautics if one prioritize power efficiency or lift power and not maneuverability, but still needs the benefits of a VTOL aircraft. However, more research regarding power optimization, design and aerodynamics needs to be done before one can say exactly how much less power the Y4 consumes compared with the standard design.
Place, publisher, year, edition, pages
2014. , 51 p.
TRITA-AVE, ISSN 1651-7660 ; 2014:54
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-163710OAI: oai:DiVA.org:kth-163710DiVA: diva2:802072