An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-based UAVs.

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering
• Unmanned Aerial Vehicles (UAVs)

Background:

• Quadrotor UAVs require advanced control systems for improved performance and energy efficiency.
• Variable-pitch propeller (VPP) systems offer potential for enhanced maneuverability and energy savings.

Purpose of the Study:

• To develop and validate a control allocation method for VPP systems on quadrotors.
• To improve attitude following performance and energy efficiency of quadrotor UAVs.
• To enhance yaw control precision and reduce overall energy consumption.

Main Methods:

• Modeling the VPP system using Blade Element Momentum (BEM) theory.
• Developing a novel actuator allocation method for enhanced control and energy performance.
• Creating a simulation environment with experimental thrust and moment data for validation.
• Implementing and testing the control allocation method on a four-motor variable-pitch quadrotor through indoor flight experiments.

Main Results:

• Simulation results indicate significant improvement in yaw following performance with the proposed control allocation method.
• Experimental results demonstrate varying energy consumption across different pitch angles.
• The VPP system, with the implemented control allocation, showed a reduction in energy consumption during flight.

Conclusions:

• The proposed control allocation method effectively enhances the attitude following performance, particularly yaw control, in quadrotor UAVs with VPP systems.
• The VPP system integrated with the control allocation method offers a viable approach to improving energy efficiency in quadrotor operations.
• This research validates the practical application of advanced control strategies for VPP-equipped UAVs in real-world flight scenarios.