![]() I guess that happend as the rotor touched a cup standing on my workbench.įor tomorrow i plan to clean up my quick and dirty build do some tests using the Esc to control the quad and the servos to preselect pitch values to find a proper combination of rotor diameter and LiPo cell count.Īs soon as the new BEC arrives i will continue with the pitch control thing. Most likely the small BEC i had lying around is not able to supply four servos, FC and RX with stable power.Īdditional one of the rotor shafts is not perfect straight and needs to be replaced. Whenever i do rapid pitch changes the FC goes into a kind of fail condition and i have to disarm and rearm or do a power cycle to continue. Unfortunately i missed to buy a proper BEC. For did a rough adjustment via the position of the ball links. Nevertheless i will have to setup a custom mixer to be able to config proper servo travels. After switching to (legacy) PWM, separating PWM from PID and setting it to 330 Hz Betaflight accepted the servos as if it were Esc. The second step will be to put on 3d capable blades and check out limits and weak points. The benefits of this were well documented in the work that MIT did and a video of some of that can be. The purpose of the variable pitch is to increase the flight envelope which allows things such as inverted flight as well as faster response to things like wind. The blades i will use during the first tests are 210 sized CFK blades 13g each pair and optimized for high thrust per Watt. The goal for the project was to develop a central motor variable pitch quad copter. Another option would be to insert a free wheeling so the quad is still under control if motors or ESCs fail.īut first bring it into the air and let’s see what happens. A quadcopter propeller with a 4-inch pitch is often considered a balanced option. In a future version (if this prototype works well) one option would be motor shaft and tail rotor shaft one solid piece. The complex solution to a fixed pitch propeller is a variable pitch. The tail rotor assemblies used are of a 450 sized heli so no thrust bearings inside just ordinary ball bearings. The stingray uses one main central motor and belts to drive the props (the same as with helis). Interesting to see 4 direct drive motors. Several years ago someone mentioned the heli tail units of the smaller helis come without thrust bearings (as would be normal in the main rotor hub) and it sounded like you definitely wanted those in. Simulation results are presented to verify the theoretical findings.From photos it is unclear what size you build. Our analysis could contribute to the development of high-performance quadcopters that are both agile and robust with respect to faults. The relationship under certain parameter conditions is analysed and the parameter conditions that lead to zero self-spinning are identified. It is also discovered that the quadcopter exhibits different and favourable behaviour, such as slow self-spinning speed. It is shown that the yaw angle and angular velocity become uncontrollable in the presence of a VPP fault, yet the quadcopter can still accurately track a desired trajectory. Finally, a linear controller is proposed. The uncontrollable mode is identified next. In this paper firstly the balance trajectory is analysed. This problem has not been studied in the literature. In this paper, the flight control of a centrally-powered VPP quadcopter in the presence of a propeller fault is studied. Adding actuators to control the pitch angles of the propellers increases the mechanical complexity and hence may increase the risk of faults. Research into variable pitch propeller (VPP) quadcopters has seen a marked increase in recent years which is due to their enhanced dynamic capabilities compared to conventional fixed pitch propeller quadcopters. Physical simulations using Simscape are presented to verify the proposed approach. The qualified RL controller is then enhanced by combining it with PID and LQR controllers which achieves better flight performance and enables the quadcopter to track a moving reference point and recover to hovering flight status. We analyse the properties of these flight modes and screen out unfavourable RL controllers. The obtained RL controllers are shown to generate two flight modes, spin and tic-toc. ![]() In this paper, we employ a deep deterministic gradient policy approach to train reinforcement learning (RL) controllers based on carefully designed rewards. Studying it could expand their flight envelope and improve their performance in extreme, aerobatic flight tasks. The problem has to our knowledge not yet been studied for quadcopters. It is one of the most challenging manoeuvrers to achieve autonomously. Tic-toc control enables rotorcraft to fly almost in the vertical plane rather than the horizontal plane. Research into variable pitch propeller (VPP) quadcopters has seen a marked increase in. ![]() This paper studies aerobatic tic-toc control of quadcopters.
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