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2017 | Buch

Introduction to Multicopter Design and Control

verfasst von: Quan Quan

Verlag: Springer Singapore

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Über dieses Buch

This book is the first textbook specially on multicopter systems in the world. It provides a comprehensive overview of multicopter systems, rather than focusing on a single method or technique. The fifteen chapters are divided into five parts, covering the topics of multicopter design, modeling, state estimation, control, and decision-making. It differs from other books in the field in three major respects: it is basic and practical, offering self-contained content and presenting hands-on methods; it is comprehensive and systematic; and it is timely. It is also closely related to the autopilot that users often employ today and provides insights into the code employed. As such, it offers a valuable resource for anyone interested in multicopters, including students, teachers, researchers, and engineers.

This introductory text is a welcome addition to the literature on multicopter design and control, on which the author is an acknowledged authority. The book is directed to advanced undergraduate and beginning graduate students in aeronautical and control (or electrical) engineering, as well as to multicopter designers and hobbyists. ------- Professor W. Murray Wonham, University of Toronto

"This is the single best introduction to multicopter control. Clear, comprehensive and progressing from basic principles to advanced techniques, it's a must read for anyone hoping to learn how to design flying robots." ------- Chris Anderson, 3D Robotics CEO.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
Commonly used small aircraft (less than 20 kg [1, pp. 4–5] or 25 kg [2]) can be classified into fixed-wing aircraft.
Quan Quan

Design

Frontmatter
Chapter 2. Basic Composition
Abstract
The compositions of multicopter systems are both simple yet complex. The compositions are thought to be simple because a multicopter system is generally composed of several well-modularized components such as the airframe, propulsion system, and command and control system.
Quan Quan
Chapter 3. Airframe Design
Abstract
When given a multicopter, its configuration and structure come into our sight first, including the shape and size of the airframe, the choice of motors and propellers, and the distribution of the battery and the payload.
Quan Quan
Chapter 4. Modeling and Evaluation of Propulsion System
Abstract
To design a multicopter, first of all, a designer has to select proper components to assemble a multicopter to meet the performance requirements, such as hover endurance, system efficiency, maximum payload, maximum pitch angle, and maximum flight distance.
Quan Quan

Modeling

Frontmatter
Chapter 5. Coordinate System and Attitude Representation
Abstract
In order to describe the attitude and position of a multicopter, it is necessary to establish appropriate coordinate frames.
Quan Quan
Chapter 6. Dynamic Model and Parameter Measurement
Abstract
On the basis of the coordinate frames and attitude representations in Chap. 5, forces on a multicopter will be taken into account and dynamic models for filtering and control will be established.
Quan Quan

Perception

Frontmatter
Chapter 7. Sensor Calibration and Measurement Model
Abstract
There are many sensors mounted in a multicopter, such as the three-axis accelerometer, three-axis gyroscope, three-axis magnetometer, ultrasonic range finder, 2D laser range finder, and Global Positioning System (GPS) receiver and camera. These sensors in a multicopter are like sensory organs of a human being.
Quan Quan
Chapter 8. Observability and Kalman Filter
Abstract
The state of a multicopter may not be measured directly by existing sensors. For example, since the speed of a multicopter is very low, its accurate value is difficult to be measured directly.
Quan Quan
Chapter 9. State Estimation
Abstract
The state estimation is very important as it is the base for control and decision-making. Sensors of multicopters are like sensory organs of a human being, which can provide the necessary information.
Quan Quan

Control

Frontmatter
Chapter 10. Stability and Controllability
Abstract
Stability and controllability are the basic properties of a dynamical system. Since a multicopter without control feedback is unstable, an autopilot is required to guarantee its stability and further make the multicopter hover automatically without any need for an external intervention.
Quan Quan
Chapter 11. Low-Level Flight Control
Abstract
Control is an enabling technology, the essence of which is the feedback. Unstable multicopters can become stable with the help of feedback control. However, it is not enough to be just stable.
Quan Quan
Chapter 12. Position Control Based on Semi-Autonomous Autopilots
Abstract
Remote pilots often control multicopters based on Semi-Autonomous Autopilots (SAAs) to accomplish some specified tasks, such as crop-dusting and inspection of power lines.
Quan Quan

Decision

Frontmatter
Chapter 13. Mission Decision-Making
Abstract
A flight control system (FCS) or an autopilot includes not only a low-level flight control system as introduced in Chap. 11, but also a high-level decision-making module.
Quan Quan
Chapter 14. Health Evaluation and Failsafe
Abstract
For multicopters, failures cannot be avoided, including communication breakdown, sensor failure and propulsion system anomaly, etc. These failures may abort missions, crash multicopters, and, moreover, injure or even kill people. In order to guarantee safety, multicopter’s decision-making module should prevent or mitigate unsafe consequences of system’s failures. For such a purpose, some flight modes are defined and switched to according to the health evaluation results of each component.
Quan Quan
Chapter 15. Outlook
Abstract
Since multicopters entered the consumer market, the related companies have emerged like bamboo shoots after a spring rain, and scholars have also flocked.
Quan Quan
Backmatter
Metadaten
Titel
Introduction to Multicopter Design and Control
verfasst von
Quan Quan
Copyright-Jahr
2017
Verlag
Springer Singapore
Electronic ISBN
978-981-10-3382-7
Print ISBN
978-981-10-3381-0
DOI
https://doi.org/10.1007/978-981-10-3382-7