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Agri-Drone Recoil PDF
Agri-Drone Recoil PDF
Where I33 and 033 are 3×3 identity matrix and 3×3 zero
matrix, respectively.
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GuangXue Zhang and Haithem E. M. Taha
In the linear and angular velocity vector in the body Where is thrust provided by the propeller
reference frame axe denoted by where b is the thrust coefficient and Ω_i is the angular
velocity of the ith propeller. M_Di is the moment of
rotation about the z-axis. If the propeller orients with
clockwise direction, the moment is in +z direction,
otherwise the moment is in -z direction. .
Combine equations (11),(12) and the second line of Eq.
The right part of Eq. (2) can be rewritten as (2), the Euler's equations can be written as
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Engineering of Science and Military Technologies
Volume (1) - Issue (1) - 2017
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GuangXue Zhang and Haithem E. M. Taha
Same way to calculate the pitch angle assuming that With Eq. (26) and (27), Kψ can be written as
here is no other posture angles change
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Engineering of Science and Military Technologies
Volume (1) - Issue (1) - 2017
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GuangXue Zhang and Haithem E. M. Taha
Where Ux and Uy are virtual controllers for x position The adaptive laws for the five variables are where λi are
and y position. In the subsystem of posture we have constant coefficient
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Engineering of Science and Military Technologies
Volume (1) - Issue (1) - 2017
Simulation results in Fig. 10 indicate that the octocopter 4.2.2 Recoil impact to the system
can fly from original place to a given place and remain For a given posture of gun, with yaw angle of the gun:
at hovering within five seconds when the error is less and the pitch angle of the gun: as shown in Fig. 12.
than 2%. The recoil disturbance to octocopter (or the whole system)
can be analyzed as follows
4.2 Shooting disturbance calculation and
simulation
Fig. 12: The pitch angle and yaw angle of the gun related to the
Where the mb is the mass of bullet, vb is the bullet's octocopter.
original velocity shot out and N is the number of bullets.
The force of recoil is In body reference, the force of recoil caused by shot
bullets is
A paintball gun is considered to be used as simulation. 4.3 Simulation of equilibrium under shot disturbance
The weight of bullet is 3 grammes and the bullet's original The condition of equilibrium is that the lift provided by
shot velocity is 85.6m/s. The paintball gun is designed the eight propellers equals to the overall weight of system
as one trigger pull = one shot and max frequency is six and without any controller. There are six shots in total,
shots per second. Consider during one shot as the velocity one after another, starting at time t=12s. The simulation
is quite fast that the shot is a continuous movement. of equilibrium shown in Fig. 13 and it indicates that the
Therefore the One shot can be simulated without controller, the system diverges once the gun shoots.
as a combination of two ramps and one step in Simulink.
The shot time is set at t = 12s. The Ramp1=Kb t activated
at step time: t_0=12s, Ramp2=-Kb t activated at step
time: t0+tb=12.167s and Step=-Kb tb activated at step
time: t0+tb=12.167s. The simulation of one shot is shown
in Fig. 11.
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GuangXue Zhang and Haithem E. M. Taha
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Engineering of Science and Military Technologies
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VI. REFERENCES
[1] Analia, R., & Song, K. T. (2016, March). Fuzzy+ PID attitude control
of a co-axial octocopter. In 2016 IEEE International Conference on Indus-
trial Technology (ICIT) (pp. 1494-1499). IEEE.
[2] Runcharoon, K., & Srichatrapimuk, V. (2013, May). Sliding mode
control of quadrotor. In Technological Advances in Electrical, Electronics
and Computer Engineering (TAEECE), 2013 International Conference on
(pp. 552-557). IEEE.
[3] Zheng, E. H., Xiong, J. J., & Luo, J. L. (2014). Second order sliding
mode control for a quadrotor UAV. ISA transactions, 53(4), 1350-1356.
[4] Azinheira, J. R., & Moutinho, A. (2008). Hover control of an UAV
with backstepping design including input saturations. IEEE Transactions
on Control Systems Technology, 16(3), 517-526.
[5] (Doctoral
dissertation, .
[6] Mian, A. A., Ahmad, M. I., & Wang, D. (2008). Backstepping based
PID control strategy for an underactuated aerial robot. IFAC Proceedings
Volumes, 41(2), 15636-15641.
[7] Greenwood, D. T. (1988). Principles of dynamics (pp. 224-226). En-
glewood Cliffs, NJ: Prentice-Hall.
Fig. 18: Power dissipation in each propeller. [8] Blakelock, J. H. (1991). Automatic control of aircraft and missiles.
John Wiley & Sons.
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