추력 제약 아래 N축 로터 소형 비행체의 허용 구동 입력 범위에 대한 기하적 분석
Geometric Analysis of the Admissible Actuation Input Range of an N-rotor Mini Aircraft under the Constraint of Thrust
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This paper makes a geometric analysis on the admissible actuation input range of a multirotor mini aircraft under the constraint of thrust, which can be used for the flight control of the aircraft. It is assumed that two or more rotors are vertically installed on the same plane in the form of a regular polygon centered at the center of mass of the aircraft, where two counterclockwise adjacent rotors rotates in the opposite direction. First, the admissible actuation input range of an N-rotor aircraft under the constraint of thrust is expressed as the intersection of the entire actuation input range, which is a unit cube, and the constraint (hyper)plane, which corresponds to the requirement of a given thrust. Second, for both trirotor(N=3) and quadrotor(N=4) aircraft, an intuitive geometric analysis is made to identify the admissible actuation input range under the constraint of thrust and to investigate its changing pattern according to a given thrust requirement. Third, further discussion is provided regarding the admissible actuation input range for an aircraft having five or more rotors(N≥5) and also the linear mapping of the admissible actuation input range to the admissible control input range
Abstract
This paper makes a geometric analysis on the admissible actuation input range of a multirotor mini aircraft under the constraint of thrust, which can be used for the flight control of the aircraft. It is assumed that two or more rotors are vertically installed on the same plane in the form of a regular polygon centered at the center of mass of the aircraft, where two counterclockwise adjacent rotors rotates in the opposite direction. First, the admissible actuation input range of an N-rotor aircraft under the constraint of thrust is expressed as the intersection of the entire actuation input range, which is a unit cube, and the constraint (hyper)plane, which corresponds to the requirement of a given thrust. Second, for both trirotor(N=3) and quadrotor(N=4) aircraft, an intuitive geometric analysis is made to identify the admissible actuation input range under the constraint of thrust and to investigate its changing pattern according to a given thrust requirement. Third, further discussion is provided regarding the admissible actuation input range for an aircraft having five or more rotors(N≥5) and also the linear mapping of the admissible actuation input range to the admissible control input range
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