This paper presents the implementation of a PID based flight controller to stabilize a shrouded rotor MAV (TiShrov) in hover. TiShrov was designed modularly to enable qualitative studies on the differences in flight stability between a shrouded and unshrouded rotor MAV while incorporating a teetering as well as a hingeless rotor. The shroud directly affects the center of lift of the MAV which in turn impacts the flight stability of the vehicle. At MAV scales, due to the relatively low inertia to mass ratios, sensitivity to asymmetric flow field over the shroud is increased. Effects of asymmetric tip clearance and variations in rotor tip path plane relative to the shroud axis on flight stability of TiShrov were qualitatively studied. A closed loop flight controller was therefore systematically developed and tested on the various configurations to mitigate unstable oscillations in flight. Flight test results of the vehicles in hover are presented. The stability of the vehicles in the vicinity of the ground plane was also studied.


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    Title :

    Development of closed loop flight control for a shrouded rotor micro air vehicle with anti-torque vanes


    Additional title:

    Entwicklung von Flugregelungsverfahren für ein Mikroluftfahrzeug mit ummantelten Propellern und Anti-Drehmoment-Leitschaufeln


    Contributors:


    Publication date :

    2009


    Size :

    15 Seiten, 42 Bilder, 2 Tabellen, 17 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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