Exjobb – Model-based Design Development and Control of a Wind Resistant Multirotor UAV

Abstract

Multirotor UAVs have in recent years become a trend among academics, engineers and hobbyists alike due to their mechanical simplicity and availability. Commercial uses range from surveillance to recreational flight with plenty of research being conducted in regards to design and control.

With applications towards search and rescue missions in mind, the main objective of this thesis work is the development of a mechanical design and control algorithm aimed at maximizing wind resistance. To these ends, an advanced multirotor simulator, based on helicopter theory, has been developed to give an accurate description of the flight dynamics. Controllers are then designed and tuned to stabilize the attitude and position of the UAV followed by a discussion regarding disturbance attenuation.

In order to study the impact of different design setups, the UAV model is constructed so that physical properties can be scaled. Parameter influence is then investigated for a specified wind test using a Design of Experiments methodology. These results are combined with a concept generation process and evaluated with a control engineering approach. It was concluded that the proposed final design should incorporate a compact three-armed airframe with six rotors configured coaxially.

Video

In the video a quadrotor designed for a lowered power-consumption is compared to a Y6 hexarotor designed for wind robustness. The Y6 features additional payload capacity, a compact airframe as well as lowered rotors, which are all attributes that were shown to be beneficial in this thesis work.

Thesis and article

Thesis
Article