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.
Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors
2011
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)
Article (Journal)
Electronic Resource
English
Comparison of Fixed and Variable Pitch Actuators for Agile Quadrotors
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