This paper presents the design, analysis and experimental testing of a variable- pitch quadrotor. A custom in-lab built quadrotor with on-board attitude stabi- lization is developed and tested. An analysis of the dynamic di erences in thrust output between a xed-pitch and variable-pitch propeller is given and validated with simulation and experimental results. It is shown that variable-pitch actuation has signi cant advantages over the conventional xed-pitch con guration, includ- ing increased thrust rate of change, decreased control saturation, and the ability to quickly and e ciently reverse thrust. These advantages result in improved quadro-tor tracking of linear and angular acceleration command inputs in both simulation and hardware testing. The bene ts should enable more aggressive and aerobatic ying with the variable-pitch quadrotor than with standard xed-pitch actuation, while retaining much of the mechanical simplicity and robustness of the xed-pitch quadrotor.


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    Titel :

    Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors


    Beteiligte:

    Erscheinungsdatum :

    2011


    Anmerkungen:

    Mark Cutler, Nazim-Kemal Ure, Bernard Michini, and Jonathan How. "Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors" AIAA Guidance, Navigation, and Control Conference (August 2011)



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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