Volume 22, Issue 7 (July 2022)                   Modares Mechanical Engineering 2022, 22(7): 429-439 | Back to browse issues page

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Baha M, Saghafi F. 3-D Dynamic Modeling and Simulation of a Quadrotor Transporting Cable-Suspended Payload Generating Stochastic Forces. Modares Mechanical Engineering 2022; 22 (7) :429-439
URL: http://mme.modares.ac.ir/article-15-47697-en.html
1- PhD Candidate of Flight Dynamics and Control - Aerospace Department - Sharif University of Technology
2- Associate Professor of Flight Dynamics and Control Group - Department of Aerospace Engineering - Sharif University of Technology , saghafi@sharif.edu
Abstract:   (1039 Views)
This paper focuses on 3-D dynamic modeling of a transport quadrotor with cable in the presence of load generating stochastic forces. In many practical cases, we are dealing with payloads that generate oscillating forces with random amplitude and frequency by their inherent dynamics or interacting with the environment. These forces can greatly affect the dynamics of the transport system. The innovation of the present study is to consider these forces and show their impact on quadrotor’s dynamics. Furthermore, in order to make the model more compatible with the real system, it is assumed that the connection point of cable and quadrotor is not located on the center of gravity of flying vehicle and the cable's inertia is considered in the modeling process. To this end, the systems’ equations of motion are derived based on both Euler-Lagrange and Newton-Euler methods. After obtaining equations of motion, the verification of the model is investigated in three steps. In the first step, by performing simulation, the validity of the nonlinear model is investigated and dynamical analysis is expressed. In the next step, by evaluating the structure of the model, it is shown that the equations of motion satisfy some structural features of a desirable dynamic model. Then, by setting some parameters and variables to zero, it is shown that simpler models provided in some references can be achieved from this comprehensive model. At the end, the conclusion of this work is presented.
Full-Text [PDF 1021 kb]   (523 Downloads)    
Article Type: Original Research | Subject: Dynamics
Received: 2020/11/16 | Accepted: 2021/12/21 | Published: 2022/07/1

1. [1] Orsag M, Korpela C, Oh P. Modeling and control of MM-UAV: Mobile manipulating unmanned aerial vehicle. Journal of Intelligent & Robotic Systems. 2013 Jan 1; 69(1-4):227-40. [DOI:10.1007/s10846-012-9723-4]
2. [2] Thomas J, Polin J, Sreenath K, Kumar V. Avian-inspired grasping for quadrotor micro UAVs. In International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2013 Aug 4 (Vol. 55935, p. V06AT07A014). American Society of Mechanical Engineers.
3. [3] Cicolani LS, Kanning G, Synnestvedt R. Simulation of the dynamics of helicopter slung load systems. Journal of the American Helicopter Society. 1995 Oct 1; 40(4): 44-61. [DOI:10.4050/JAHS.40.44]
4. [4] Oh SR, Ryu JC, Agrawal SK. Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot. 2006, 1113-1121. [DOI:10.1115/1.2218882]
5. [5] Zameroski D, Starr G, Wood J, Lumia R. Rapid swing-free transport of nonlinear payloads using dynamic programming. Journal of Dynamic Systems, Measurement, and Control. 2008 Jul 1; 130(4). [DOI:10.1115/1.2936384]
6. [6] Alothman Y, Gu D. Using constrained model predictive control to control two quadrotors transporting a cable-suspended payload. In 2018 13th World Congress on Intelligent Control and Automation (WCICA). 2018 Jul 4 (pp. 228-233). IEEE. [DOI:10.1109/WCICA.2018.8630488]
7. [7] Barikbin B, Fakharian A. Trajectory tracking for quadrotor UAV transporting cable-suspended payload in wind presence. Transactions of the Institute of Measurement and Control. 2019 Mar; 41(5):1243-55. [DOI:10.1177/0142331218774606]
8. [8] Sreenath K, Kumar V. Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots. rn. 2013 Jun; 1(r2):r3. [DOI:10.15607/RSS.2013.IX.011]
9. [9] Guerrero ME, Mercado DA, Lozano R, García CD. Passivity based control for a quadrotor UAV transporting a cable-suspended payload with minimum swing. In2015 54th IEEE Conference on Decision and Control (CDC) 2015 Dec 15 (pp. 6718-6723). IEEE. [DOI:10.1109/CDC.2015.7403277]
10. [10] Guerrero-Sánchez ME, Mercado-Ravell DA, Lozano R, García-Beltrán CD. Swing-attenuation for a quadrotor transporting a cable-suspended payload. ISA transactions. 2017 May 1; 68:433-49. [DOI:10.1016/j.isatra.2017.01.027]
11. [11] Goodarzi FA, Lee D, Lee T. Geometric stabilization of a quadrotor UAV with a payload connected by flexible cable. In2014 American Control Conference 2014 Jun 4 (pp. 4925-4930). IEEE. [DOI:10.1109/ACC.2014.6859419]
12. [12] Dai S, Lee T, Bernstein DS. Adaptive control of a quadrotor UAV transporting a cable-suspended load with unknown mass. In53rd IEEE Conference on Decision and Control 2014 Dec 15 (pp. 6149-6154). IEEE. [DOI:10.1109/CDC.2014.7040352]
13. [13] Goodarzi FA, Lee T. Dynamics and control of quadrotor UAVs transporting a rigid body connected via flexible cables. In2015 American Control Conference (ACC) 2015 Jul 1 (pp. 4677-4682). IEEE. [DOI:10.1109/ACC.2015.7172066]
14. [14] Lee T. Geometric control of quadrotor UAVs transporting a cable-suspended rigid body. IEEE Transactions on Control Systems Technology. 2017 Feb 6; 26(1):255-64. [DOI:10.1109/TCST.2017.2656060]
15. [15] Palunko I, Fierro R. Cruz P. Trajectory generation for swing free maneuvers of a quadrotor with suspended payload: A Dynamic Programming Approach." IEEE International Conference on Robotics and Automation, 2012 May 14, (pp. 2691-2697). IEEE. [DOI:10.1109/ICRA.2012.6225213]
16. [16] Guerrero ME, Mercado DA, Lozano R, García CD. IDA-PBC methodology for a quadrotor UAV transporting a cable-suspended payload. In2015 International Conference on Unmanned Aircraft Systems (ICUAS) 2015 Jun 9 (pp. 470-476). IEEE. [DOI:10.1109/ICUAS.2015.7152325]
17. [17] Baha M, Saghafi F, 2-D Dynamic modeling and simulation of a quadrotor, transporting a cable-suspended payload with stochastic forces. The 28th Iranian Society of Mechanical Engineering (ISME2020), AmirKabir University of Technology, Tehran, Iran. 2020 May.
18. [18] Zipfel PH. Modeling and simulation of aerospace vehicle dynamics. American Institute of Aeronautics and Astronautics; 2007 Apr 15. [DOI:10.2514/4.862182]
19. [19] Chovancová A, Fico T, Chovanec Ľ, Hubinsk P. Mathematical modelling and parameter identification of quadrotor (a survey). Procedia Engineering. 2014 Jan 1; 96:172-81. [DOI:10.1016/j.proeng.2014.12.139]
20. [20] Luukkonen T. Modelling and control of quadcopter. Independent research project in applied mathematics, Espoo. 2011 Aug 22; 22.
21. [21] Cruz PJ. Fierro R. Cable-Suspended Load Lifting by a Quadrotor UAV: Hybrid Model, Trajectory Generation, and Control. Autonomous Robots. 2017 Dec; 41(8):1629-43. [DOI:10.1007/s10514-017-9632-2]

Add your comments about this article : Your username or Email:

Send email to the article author

Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.