Micro Coaxial Drone: Flight Dynamics, Simulation and Ground Testing

This paper describes the conceptual design of a micro coaxial unmanned aerial vehicle (MCR UAV v3.0) based on its flight dynamics and a simple aerodynamic analysis using computational fluid dynamics (CFD). In addition, a simple linear control is proposed with the pole assignment technique. The methodology proposed in this paper involves a standardized path for designing the novel micro coaxial UAV. This begins by selecting the avionics to create a primary dimensional design for a later transient and stationary CFD analysis. In effect, the mathematical model is obtained using the Newton-Euler formulation and is linearized to obtain the dynamical requirements of the vehicle. The requirements allow us to design the control scheme with a linear control technique. This process is iterative and uses a combination of flight dynamics and CFD. The control technique is based on pole assignment, ensuring a specific phase condition is used in the controller gain for the stabilization of the proposed aerial vehicle. The control scheme is analyzed once the CFD analysis is correctly performed; in this sense, the methodology proposed in this paper is capable of converging as a result of the dimensional design. This design ensures a suitable vehicle performance according to the dynamical requirements. Thus, the micro coaxial UAV is completely designed based on its flight dynamics along with a CFD analysis, generating a robust methodology.