DISCUSSION AND PRACTICAL ASPECTS ON CONTROL ALLOCATION FOR A MULTI-ROTOR HELICOPTER

被引:0
作者
Ducard, Guillaume J. J. [1 ]
Minh-Duc Hua [1 ]
机构
[1] UNS CNRS, I3S, F-06903 Sophia Antipolis, France
来源
INTERNATIONAL CONFERENCE ON UNMANNED AERIAL VEHICLE IN GEOMATICS (UAV-G) | 2011年 / 38-1卷 / C22期
关键词
Multi-rotor UAVs; Hexacopter; Control Allocation; Weighted Pseudo-inverse Matrix;
D O I
暂无
中图分类号
P9 [自然地理学];
学科分类号
0705 ; 070501 ;
摘要
This paper presents practical methods to improve the flight performance of an unmanned multi-rotor helicopter by using an efficient control allocation strategy. The flying vehicle considered is an hexacopter. It is indeed particularly suited for long missions and for carrying a significant payload such as all the sensors needed in the context of cartography, photogrammetry, inspection, surveillance and transportation. Moreover, a stable flight is often required for precise data recording during the mission. Therefore, a high performance flight control system is required to operate the UAV. However, the flight performance of a multi-rotor vehicle is tightly dependent on the control allocation strategy that is used to map the virtual control vector v = [T, L, M, N](T) composed of the thrust and the torques in roll, pitch and yaw, respectively, to the propellers' speed. This paper shows that a control allocation strategy based on the classical approach of pseudo-inverse matrix only exploits a limited range of the vehicle capabilities to generate thrust and moments. Thus, in this paper, a novel approach is presented, which is based on a weighted pseudo-inverse matrix method capable of exploiting a much larger domain in v. The proposed control allocation algorithm is designed with explicit laws for fast operation and low computational load, suitable for a small microcontroller with limited floating-point operation capability.
引用
收藏
页码:95 / 100
页数:6
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