Abstract
In this study, the flight performance of a universal Vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) with 12 and 8 rotors was examined under load and no-load conditions. Thanks to its universal structure, experimental studies with 8 and 12 rotor UAVs were performed on the same platform and under the same conditions. In addition, the controller parameters were kept the same for both vehicle types in order to observe the effect of the mass load only. Hierarchical PID controllers are used as the controller architecture to control the orientation and position of the both vehicles. The flight performance of both vehicles was examined in three stages as take-off, trajectory and landing. Settling time, rise time parameters and position errors were used to benchmark the flight performance of the both vehicles. The results show that the performance of the 12-rotor vehicle is superior, especially in terms of trajectory tracking performance although the take-off and landing performance is very close to each other for both vehicles. This was observed more clearly under load conditions.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ma, T., Wong, S.: Trajectory tracking control for quadrotor UAV. In: 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1751–1756. IEEE (2017). https://doi.org/10.1109/ROBIO.2017.8324671
Zhu, W., Du, H., Cheng, Y., Chu, Z.: Hovering control for quadrotor aircraft based on finite-time control algorithm. Nonlinear Dyn. 88(4), 2359–2369 (2017). https://doi.org/10.1007/s11071-017-3382-8
Martinez Alvarez, A., Lozano Espinosa, C.A.: Nonlinear control for collision-free navigation of UAV fleet. SN Appl. Sci. 1(12), 1 (2019). https://doi.org/10.1007/s42452-019-1606-x
Burggräf, P., Pérez Martínez, A.R., Roth, H., Wagner, J.: Quadrotors in factory applications: design and implementation of the quadrotor’s P-PID cascade control system. SN Appl. Sci. 1(7), 1–17 (2019). https://doi.org/10.1007/s42452-019-0698-7
Anweiler, S., Piwowarski, D.: Multicopter platform prototype for environmental monitoring. J. Clean. Prod. 155, 204–211 (2017). https://doi.org/10.1016/j.jclepro.2016.10.132
Brischetto, S., Ciano, A., Ferro, C.G.: A multipurpose modular drone with adjustable arms produced via the FDM additive manufacturing process. Curved Layer. Struct. 3, 202–213 (2016). https://doi.org/10.1515/cls-2016-0016
Lin, C.E., Supsukbaworn, T.: Development of dual power multirotor system. Int. J. Aerosp. Eng. 2017, 1–19 (2017). https://doi.org/10.1155/2017/9821401
Vu, N.A., Dang, D.K., Le. Dinh, T.: Electric propulsion system sizing methodology for an agriculture multicopter. Aerosp. Sci. Technol. 90, 314–326 (2019). https://doi.org/10.1016/j.ast.2019.04.044
Kotarski, D., Piljek, P., Brezak, H., Kasać, J.: Design of a fully actuated passively tilted multirotor UAV with decoupling control system. In: 2017 8th International Conference Mechanical and Aerospace Engineering ICMAE 2017, pp. 385–390 (2017). https://doi.org/10.1109/ICMAE.2017.8038677
Bucki, N., Mueller, M.W.: A novel multicopter with improved torque disturbance rejection through added angular momentum. Int. J. Intell. Robot. Appl. 3(2), 131–143 (2019). https://doi.org/10.1007/s41315-019-00093-4
Ömürlü, V.E., Kirli, A., Büyükşahin, U., Engin, Ş.N., Kurtoǧlu, S.: A stationary, variable DOF flight control system for an unmanned quadrocopter. Turkish J. Electr. Eng. Comput. Sci. 19, 891–899 (2011). https://doi.org/10.3906/elk-1007-579
Lin, C.E., et al.: Engine controller for hybrid powered dual quad-rotor system. In: IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society, pp. 001513–001517. IEEE (2015). https://doi.org/10.1109/IECON.2015.7392315
de Angelis, E.L., Giulietti, F., Pipeleers, G.: Two-time-scale control of a multirotor aircraft for suspended load transportation. Aerosp. Sci. Technol. 84, 193–203 (2019). https://doi.org/10.1016/j.ast.2018.10.012
Godbole, A.R., Subbarao, K.: Nonlinear control of unmanned aerial vehicles with cable suspended payloads. Aerosp. Sci. Technol. 93, 105299 (2019). https://doi.org/10.1016/j.ast.2019.07.032
Yıldırım, Ş, Çabuk, N., Bakırcıoğlu, V.: Design and trajectory control of universal drone system. Measurement 147, 106834 (2019). https://doi.org/10.1016/j.measurement.2019.07.062
Langley, R.B.: Dilution of precision. GPS World 10, 52–59 (1999)
Freimuth, H., König, M.: Planning and executing construction inspections with unmanned aerial vehicles. Autom. Constr. 96, 540–553 (2018). https://doi.org/10.1016/j.autcon.2018.10.016
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Yildirim, Ş., Çabuk, N., Bakircioğlu, V. (2022). Experimental Investigation of the Effect of Mass Load on Flight Performance of an Octorotor and Dodecarotor UAV. In: Machado, J., Soares, F., Trojanowska, J., Yildirim, S. (eds) Innovations in Mechatronics Engineering. icieng 2021. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-79168-1_8
Download citation
DOI: https://doi.org/10.1007/978-3-030-79168-1_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-79167-4
Online ISBN: 978-3-030-79168-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)