Modares Mechanical Engineering

Modares Mechanical Engineering

Dynamic Analysis of a Quadrotor in Variable Operating Conditions

Authors
Ramin Afhami 1
Rasul Fesharakifard 2
Mohammad Azam Khosravi 3
1 Department of Robotic Engineering, Amirkabir University of Technology, Tehran
2 New Technologies Research Center, Amirkabir University of Technology
3 Department of Electrical Engineering, Amirkabir University of Technology, Tehran
Abstract
This paper focuses on the dynamic modeling of quadrotor with respect to changes in operating conditions. The main objective of this investigation is to provide complete governing quadrotor dynamic equations using the Euler-Lagrange method considering all aerodynamic forces which affect it's motion. In previous papers, dynamical equations are never considered comprehensively. The study of quadrotor's dynamics permits to understand it's physics and behavior and provides a precise model of the system. Once such a model is obtained, the control of quadrotor turns much simpler than current inaccurate models. In order to take into account, the set of forces and torques involved in quadrotor dynamics, the previous studies are used and after describing each of the forces and their precise terms, the complete dynamic quadrature model is presented. At the end, the system's performance is simulated in two different operating conditions, one regardless of the external object coupled with quadrotor, and the other in the coupled condition with a camera, and by this means, the achieved dynamic model is validated. In the first operating conditions in two different tests, the dynamic equations of the present work will be compared against the previous ones. In the second operating conditions, the quadrotor performance under influence of a connected camera whose motion changes continuously the system dynamic equations is studied.
Keywords
Quadrotor
Dynamic modeling
Aerodynamic forces
Operating conditions
Connected camera
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Modares Mechanical Engineering
Volume 18, Issue 3
May 2018
Pages 135-145