Proceedings of the 20th World Congress of the International Federation of Automatic Control
巻, 号, ページ
pp. 9311-9316
出版年月
2017年7月9日
出版者
和文:
英文:
IFAC
会議名称
和文:
英文:
20th World Congress of the International Federation of Automatic Control
開催地
和文:
英文:
Toulouse
アブストラクト
This paper tackles maneuverability analysis of a fully-actuated hexrotor unmanned aerial vehicle considering arrangement and tilt angles of 6 rotors. First, a dynamical model of ht hexrotor is presented. For the model, it is proved that almost all the nonplanar hexrotor structure can be approximately simplified and transformed into planar rotor arrangement. According to the fact, symmetric-coplanar-tilted-rotor (SCTR) structure is introduced as a kind of canonical structure of hexrotors in this paper. Moreover, dynamic manipulability measure (DMM)of the hexrotor is newly defined to analyze the maneuverability, and DMM of the hexrotor with SCTR structure is found suitable for the evaluation of full-actuation property of the vehicle structure. Finally, as an example application, design optimization problems of the hexrotor are considered to show the usability of the present analysis, and the numerical example of the DMM-maximum structure is presented.
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