Introduction to multicopter design and control:
Saved in:
| Main Author: | |
|---|---|
| Format: | Book |
| Language: | English |
| Published: |
Singapore
Springer
[2017]
|
| Subjects: | |
| Links: | http://www.gbv.de/dms/ilmenau/toc/893313181.PDF http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029891905&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| Physical Description: | xxvi, 384 Seiten Illustrationen, Diagramme |
| ISBN: | 9789811098598 |
Staff View
MARC
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Record in the Search Index
| _version_ | 1819381386260250624 |
|---|---|
| adam_text | Quan Quan
Introduction
to Multicopter Design
and Control
Ö Springer
Contents
1 Introduction 1
1 1 Concepts 3
111 Classification of Commonly Used Small
Aircraft 3
112 Unmanned Aerial Vehicle and Model
Aircraft 5
1 2 Remote Control and Performance Evaluation 6
121 Remote Control of a Multicopter 6
122 Performance Evaluation 10
123 Bottleneck 12
1 3 History of Multicopters 13
131 The First Stage (Before 1990): Dormancy
Period 14
132 The Second Stage (1990-2005): Growing
Period 15
133 The Third Stage (2005-2010): Development
Period 15
134 The Fourth Stage (2010-2013): Activity
Period 17
135 The Fifth Period (2013-): Booming Period 19
136 Conclusion Remark 21
1 4 The Objective and Structure of the Book 21
141 Objective 21
142 Structure 22
Exercises 25
References 25
Part I Design
2 Basic Composition 31
2 1 Introduction 33
2 2 Airframe 33
221 Fuselage 33
222 Landing Gear 36
223 Duct 36
2 3 Propulsion System 37
231 Propeller 37
232 Motor 40
XI
XII
Contents
233 Electronic Speed Controller 43
234 Battery 45
2 4 Command and Control System 47
241 RC Transmitter and Receiver 47
242 Autopilot 50
243 Ground Control Station 51
2*4 4 Radio Telemetry 51
2 5 Summary 54
Exercises 54
References 54
3 Airframe Design 57
3 1 Configuration Design 59
311 Airframe Configuration 59
312 Aerodynamic Configuration 66
3 2 Structural Design 67
321 Design Principles of Airframe 67
322 Anti-Vibration Consideration 67
323 Noise Reduction Consideration 70
3 3 Summary 71
Exercises 71
References 71
4 Modeling and Evaluation of Propulsion System 73
4 1 Problem Formulation 75
4 2 Propulsion System Modeling 75
421 Propeller Modeling 75
422 Motor Modeling 77
423 Electronic Speed Controller Modeling 79
424 Battery Modeling 80
4 3 Performance Evaluation 80
431 Solution to Problem 1 80
432 Solution to Problem 2 83
433 Solution to Problem 3 83
434 Solution to Problem 4 84
4 4 Test Case 87
4 5 Summary 88
4 6 Appendix 89
461 Procedure to Obtain Thrust Coefficient
and Torque Coefficient 89
462 Procedure to Obtain the Motor Equivalent
Voltage and Current 91
Exercises 94
References 95
Part II Modeling
5 Coordinate System and Attitude Representation 99
5 1 Coordinate Frame 101
511 Right-Hand Rule 101
Contents
xiii
512 Earth-Fixed Coordinate Frame
and Aircraft-Body Coordinate Frame 101
5 2 Attitude Representation 102
521 Euler Angles 102
522 Rotation Matrix 105
523 Quaternions 109
5 3 Summary 119
Exercises 119
References 120
6 Dynamic Model and Parameter Measurement 121
6 1 Multicopter Control Model 123
611 General Description 123
612 Multicopter Flight Control Rigid Model 124
613 Control Effectiveness Model 127
614 Propulsor Model 129
6 2 Multicopter Aerodynamic Drag Model 130
621 Blade Flapping 130
622 Multicopter Aerodynamic Drag Model 132
6 3 Multicopter Model Parameter Measurement 132
631 Position of the Center of Gravity 133
632 Weight 134
633 Moment of Inertia 134
634 Propulsor Model’s Parameter Measurement 138
6 4 Summary 143
Exercises 143
References 143
Part III Perception
7 Sensor Calibration and Measurement Model 147
7 1 Three-Axis Accelerometer 149
711 Fundamental Principle 149
712 Calibration 149
713 Measurement Model 151
7 2 Three-Axis Gyroscope 151
721 Fundamental Principle 151
722 Calibration 152
723 Measurement Model 154
7 3 Three-Axis Magnetometer 155
731 Fundamental Principle 155
732 Calibration 155
733 Measurement Model 157
7 4 Ultrasonic Range Finder 157
741 Fundamental Principle 157
742 Calibration * 158
743 Measurement Model 158
7 5 Barometer 158
751 Fundamental Principle 158
752 Calibration 159
753 Measurement Model 159
7 6 2D Laser Range Finder 159
761 Fundamental Principle 159
762 Calibration 159
763 Measurement Model 159
764 Supplement: LiDAR 160
7 7 ^Global Positioning System 162
771 Fundamental Principle 162
772 Calibration 163
773 Measurement Model 163
774 Supplement: Latitude-and-Longitude
Distance and Heading Calculation 164
7 8 Camera 165
781 Fundamental Principle 165
782 Measurement Model 166
783 Calibration 168
784 Some Toolboxes 170
7 9 Summary 170
Exercises 171
References 172
Observability and Kalman Filter 173
8 1 Observability 175
811 Linear System 175
812 Continuous-Time Nonlinear System 179
8 2 Kalman Filter 183
821 Objective 184
822 Preliminary 184
823 Theoretical Derivation 185
824 Multirate Kalman Filter 192
8 3 Extended Kalman Filter 193
831 Basic Principle 193
832 Theoretical Derivation 193
833 Implicit Extended Kalman Filter 195
8 4 Summary 196
Exercises 196
References 196
State Estimation 199
9 1 Attitude Estimation 201
911 Measuring Principle 201
912 Linear Complementary Filter 204
913 Nonlinear Complementary Filter 207
914 Kalman Filter 208
9 2 Position Estimation 209
921 GPS-Based Position Estimation 209
922 SLAM-Based Position Estimation 210
9 3 Velocity Estimation 214
931 Optical-Flow-Based Velocity Estimation
Method 214
XV
932 Aerodynamic-Drag-Model-Based Velocity
Estimation Method 218
9 4 Obstacle Estimation 220
941 Focus of Expansion Calculation 220
942 Time to Collision Calculation 221
9 5 Summary 222
Exercises 223
References 224
Part IV Control
10 Stability and Controllability 227
10 1 Definition of Stability 229
10 2 Stability Criteria 230
10 2 1 Stability of Multicopters 230
10 2 2 Some Results of Stability 231
10 3 Basic Concepts of Controllability 236
10 3 1 Classical Controllability 236
10 3 2 Positive Controllability 237
10 4 Controllability of Multicopters 238
10 4 1 Multicopter System Modeling 238
10 4 2 Classical Controllability 240
10 4 3 Positive Controllability 240
10 4 4 Controllability of Multicopter Systems 243
10 4 5 Further Discussions 247
10 5 Summary 247
10 6 Appendix: Proof of Lemma 10 17 248
Exercises 249
References 250
11 Low-Level Flight Control 251
11 1 Framework of Low-Level Flight Control
of Multicopters 253
11 2 Linear Model Simplification 254
11 2 1 Horizontal Position Channel Model 255
11 2 2 Altitude Channel Model 255
11 2 3 Attitude Model 256
11 3 Position Control 256
11 3 1 Basic Concept 256
11 3 2 Euler Angles as Output 257
11 3 3 Rotation Matrix as Output 262
11 4 Attitude Control 265
11 4 1 Basic Conception 265
11 4 2 Euler Angles Based Attitude Control 266
11 4 3 Rotation Matrix Based Attitude Control 266
11 4 4 Robust Attitude Control v 267
11 5 Control Allocation 274
11 5 1 Basic Concept 274
11 5 2 Implementation of Control Allocation
in Autopilots 275
xvi Conten
11 6 Motor Control 277
11 6 1 Closed-Loop Control 277
11 6 2 Open-Loop Control 277
11 7 Comprehensive Simulation 277
11 7 1 Control Objective and System Parameter
Setting 277
11 7 2 Euler Angles Based Attitude Control
Combined with Euler Angles Based Position
Control 278
11 7 3 Rotation Matrix Based Attitude Control
Combined with Rotation Matrix Based
Position Control 280
11 7 4 Robust Attitude Control 282
11 8 Summary 283
Exercises 284
References 285
12 Position Control Based on Semi-Autonomous Autopilots 287
12 1 Problem Formulation 289
12 1 1 Structure of Multicopter with SAA 289
12 1 2 Models of Three Channels 289
12 1 3 Objective of Position Control 291
12 2 System Identification 291
12 2 1 Procedure and Toolboxes of System
Identification 291
12 2 2 Model Used in System Identification 293
12 3 Position Controller Design 296
12 3 1 PID Controller 297
12 3 2 Additive-Output-Decomposition-Based
Dynamic Inversion Control 297
12 4 Simulation 300
12 4 1 System Identification 300
12 4 2 Control Design 304
12 4 3 Comparison of Tracking Performance 305
12 5 Summary 307
Exercises 308
References 308
Part V Decision
13 Mission Decision-Making 313
13 1 Fully-Autonomous Control 315
13 1 1 Brief Introduction 315
13 1 2 Mission Planning 316
13 1 3 Path Planning 318
13 2 Semi-Autonomous Control 328
13 2 1 Three Modes of SAC 329
13 2 2 Radio Control 330
13 2 3 Automatic Control 331
13 2 4 Switching Logic Between RC and AC 333
XVII
13 3 Summary 335
Exercises 335
References 336
14 Health Evaluation and Failsafe 337
14 1 Purpose and Significance of Decision-Making
Mechanism 339
14 2 Safety Issues 339
14 2 1 Communication Breakdown 339
14 2 2 Sensor Failure 340
14 2 3 Propulsion System Anomaly 341
14 3 Health Evaluation 341
14 3 1 Pre-Flight Health Check 341
14 3 2 In-Flight Health Evaluation 342
14 4 Failsafe Suggestions 345
14 4 1 Communication Failsafe 346
14 4 2 Sensor Failsafe 346
14 4 3 Propulsion System Failsafe 346
14 5 A Safe Semi-Autonomous Autopilot Logic Design 347
14 5 1 Requirement Description 347
14 5 2 Multicopter State and Flight Mode Definition 348
14 5 3 Event Definition 348
14 5 4 Autopilot Logic Design 350
14 5 5 Demand and Decision-Making Table 354
14 6 Summary 359
Exercises 360
References 361
15 Outlook 363
15 1 Related Technology Development 365
15 1 1 Propulsion Technology 365
15 1 2 Navigation Technology 366
15 1 3 Interactive Technology 367
15 1 4 Communication Technology 368
15 1 5 Chip Technology 368
15 1 6 Software Platform Technology 369
15 1 7 Air Traffic Control Technology 369
15 1 8 Concluding Remark 370
15 2 Demand and Technology Innovation 370
15 2 1 Innovation Level 370
15 2 2 Application Innovation 370
15 2 3 Performance Innovation 372
15 3 Analysis 375
15 3 1 Risks 375
15 3 2 Suggestions 375
15 4 Opportunities and Challenges 376
15 4 1 Opportunities 376
15 4 2 Challenges 376
References 377
|
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| id | DE-604.BV044491974 |
| illustrated | Illustrated |
| indexdate | 2024-12-20T18:04:35Z |
| institution | BVB |
| isbn | 9789811098598 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-029891905 |
| oclc_num | 998711452 |
| open_access_boolean | |
| owner | DE-83 DE-703 DE-M347 |
| owner_facet | DE-83 DE-703 DE-M347 |
| physical | xxvi, 384 Seiten Illustrationen, Diagramme |
| publishDate | 2017 |
| publishDateSearch | 2017 |
| publishDateSort | 2017 |
| publisher | Springer |
| record_format | marc |
| spellingShingle | Quan, Quan Introduction to multicopter design and control Quadrocopter (DE-588)1051121949 gnd Flugregelung (DE-588)4328094-8 gnd Flugverhalten (DE-588)4154774-3 gnd |
| subject_GND | (DE-588)1051121949 (DE-588)4328094-8 (DE-588)4154774-3 |
| title | Introduction to multicopter design and control |
| title_auth | Introduction to multicopter design and control |
| title_exact_search | Introduction to multicopter design and control |
| title_full | Introduction to multicopter design and control Quan Quan |
| title_fullStr | Introduction to multicopter design and control Quan Quan |
| title_full_unstemmed | Introduction to multicopter design and control Quan Quan |
| title_short | Introduction to multicopter design and control |
| title_sort | introduction to multicopter design and control |
| topic | Quadrocopter (DE-588)1051121949 gnd Flugregelung (DE-588)4328094-8 gnd Flugverhalten (DE-588)4154774-3 gnd |
| topic_facet | Quadrocopter Flugregelung Flugverhalten |
| url | http://www.gbv.de/dms/ilmenau/toc/893313181.PDF http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=029891905&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT quanquan introductiontomulticopterdesignandcontrol |