2016

paper

english

EN In this paper, a simple and easily applicable model of the coaxial propulsion unit for multirotor UAVs is presented. Measurements performed on the experimental test bench provided information about the generated thrust in relation to PWM control signals and supply voltage. Modelling techniques based on Takagi-Sugeno fuzzy interface and surface fitting are proposed. Implementation of the first order inertial element with the varying time constant allows to consider the propulsion unit’s dynamics. A fuzzy model was chosen for implementation taking into consideration a computational complexity benchmark. Fusion of four independent models provides information about a total thrust generated by the physical platform during real flight scenarios. Promising results of experimental studies open the way for possible applications of the presented method, such as expanding estimation algorithms of attitude and vertical velocity or improvement of the mathematical model.

418 - 423

10.1109/MFI.2016.7849524

https://ieeexplore.ieee.org/document/7849524

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2016) Kongresshaus Baden-Baden, Germany, Sep. 19-21, 2016

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2016, 19-21.09.2016, Baden-Baden, Germany

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