by Andi Dharmawan, Ahmad Ashari, Agfianto Eko Putra

Abstract

Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is an underactuated mechanical system. It means that the system has some control inputs is lower than its DOF (Degrees of Freedom). This condition causes quadrotor to have limited mobility because of its inherent under actuation, namely, the availability of four independent control signals (four-speed rotating propellers) versus 6 degrees of freedom parameterizing quadrotor position or orientation in space. If a quadrotor is made to have 6 DOF, a full motion control system to optimize the flight will be different from before. So it becomes necessary to develop over actuated quad tiltrotor. Quad tiltrotor has control signals more than its DOF. Therefore, we can refer it to the overactuated system. We need a good control system to fly the quad tiltrotor. Good control systems can be designed using the model of the quad tiltrotor system. We can create quad tiltrotor model using its dynamics based on Newton-Euler approach. After we have a set of model, we can simulate the control system using some control method. There are several control methods that we can use in the quad tiltrotor flight system. However, we can improve the control by implementing a modern control system that uses the concept of state space. The simulations show that the quad tiltrotor has done successful translational motion without significant interference. Also, undesirable rotation movement in the quad tiltrotor flight when performing the translational motions resulting from the transition process associated with the tilt rotor change was successfully reduced below 1 degree.

International Journal on Advanced Science, Engineering and Information Technology, Vol. 7 (2017) No. 3, pages: 1104-1113, DOI:10.18517/ijaseit.7.3.2171 [online]

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11 Responses to “Mathematical Modelling of Translation and Rotation Movement in Quad Tiltrotor”

  1. The simulations show that the quad tiltrotor has done successful translational motion without significant interference

  2. thank you for sharing

  3. It’s great method, thankyou very much! http://ittelkom-pwt.ac.id

  4. It’s great method,good idea. thankyou very much! http://ittelkom-pwt.ac.id

  5. thank you for sharing. it’s so helpful

  6. thanks very much for sharing

  7. Good article and knowledge for me! I found a lot of information here! This article is really good for all newbie here. Thank you for sharing with us!

  8. The applications of mathematical modelling are endless! All of the most beautiful phenomena in nature are modelled with mathematical formulae

  9. thanks for sharing

  10. if you use this in a rotation is a lot more simple.
    draw the shape on, and hold your pencil on the ‘centre of rotation’ and rotate however many degrees it says to.

  11. These activities would not affect the rotation of the earth or its centre of mass in any significant or even measurable way. The earth’s entire crust accounts for less than 2% of its total mass, and the amount of that crust that we’ve disturbed is much, much, MUCH smaller.

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