With the popularity of electric multi-rotor unmanned aerial vehicles (EMRUAV), the problem of low efficiency of the motor propeller system (MPS) becomes serious especially for EMRUAVs which have multiple working states. To solve this problem, an integrated optimization design method for high-efficiency MPS is proposed using an improved parallel particle swarm optimization and differential evolution (PSODE) hybrid algorithm. First, the brushless motor as well as the variable-speed and the adjustable-pitch propellers is modelled. Then considering the characteristics of the motor and the propeller sufficiently, an integrated optimization method for variable-speed and adjustable-pitch MPS is proposed by utilizing the improved PSODE. Specially, the self-organizing feature map theory is added to substitute the traditional “winner-take-all” method in the interactive study of the improved PSODE. Next, the optimization of a small electric-powered tilt quad rotor (TQR) which has four states: hovering, cruising, transition and maximum speed is carried out. At last, the wind-tunnel experiments are implemented to verify the feasibility and effectiveness of the proposed optimization method. The results indicate that the adjustable-pitch MPS is more suitable for EMRUAVs which have multiple working states, and that the improved PSODE has faster convergence speed and better global search ability than other optimization methods.

/pdf/research-on-integrated-optimization-design-method-of-high-29ebpw1vco.pdf

Research on Integrated Optimization Design Method of High-Efficiency Motor Propeller System for UAVs With Multi-States

The conventional powertrain for ultralight aviation consists of a fixed pitch propeller connected to an internal combustion engine (ICE). Since ICEs have a limited thermal efficiency (<40%), new and more efficient powerplant configurations have recently been proposed in the scientific literature by adopting hybrid electric solutions. Hybridization has the additional benefit of increased safety thanks to redundancy. This is a very important issue in ultralight aviation, where a high percentage of accidents are caused by engine failure. In a previous investigation, the authors proposed the design of a series/parallel hybrid electric power system to increase safety and optimize fuel economy by controlling the engine working points during flight. A new powertrain, derived from an automotive Honda i-MMD system, is analyzed in this study and a reliability analysis is performed to underline the improved safety obtained with the proposed system.

/pdf/design-and-reliability-analysis-of-a-series-parallel-hybrid-2gspln9d.pdf

Design and Reliability Analysis of a Series/Parallel Hybrid System with a Rotary Engine for Safer Ultralight Aviation

In this article, we propose an unconventional heavy-lift aerial vehicle (HLAV), present the design and its control allocation analysis, and prove the concept by the demonstration of the experimental test prototype in the outdoor environment. We aim for a mechanically robust and simple vehicle design that efficiently performs heavy lifting compared to other common aerial vehicles under certain width constraints, without using a complex swashplate mechanism. The HLAV performs the task of carrying the main load with two large propellers that are efficient, thanks to the greater disk area, and includes two small tilting propellers for controllability. This system has a “PPNN” (P: clockwise and N: counterclockwise) propeller arrangement to compensate for the reaction torques of equally sized propeller pairs placed on opposite sides. However, conventional quadcopters with the “PPNN” propeller arrangement lose their controllability upon hovering. Therefore, servo motors are integrated into the small propellers to ensure controllability. The nonlinear dynamic model of the HLAV is built by the Newton–Euler approach, and the system is linearized around the hover equilibrium point for controllability analysis. Model parameters are estimated using closed-loop system identification tools. High-level controllers are designed with the “loop shaping” method. To show feasibility, the proposed system is experimentally verified with a newly designed prototype, and sufficient trajectory tracking performance is achieved in a stable manner. 

Design, Modeling, and Control Allocation of a Heavy-Lift Aerial Vehicle Consisting of Large Fixed Rotors and Small Tiltrotors

In this article, we propose an unconventional heavy-lift aerial vehicle (HLAV), present the design and its control allocation analysis, and prove the concept by the demonstration of the experimental test prototype in the outdoor environment. We aim for a mechanically robust and simple vehicle design that efficiently performs heavy lifting compared to other common aerial vehicles under certain width constraints, without using a complex swashplate mechanism. The HLAV performs the task of carrying the main load with two large propellers that are efficient, thanks to the greater disk area, and includes two small tilting propellers for controllability. This system has a “PPNN” (P: clockwise and N: counterclockwise) propeller arrangement to compensate for the reaction torques of equally sized propeller pairs placed on opposite sides. However, conventional quadcopters with the “PPNN” propeller arrangement lose their controllability upon hovering. Therefore, servo motors are integrated into the small propellers to ensure controllability. The nonlinear dynamic model of the HLAV is built by the Newton–Euler approach, and the system is linearized around the hover equilibrium point for controllability analysis. Model parameters are estimated using closed-loop system identification tools. High-level controllers are designed with the “loop shaping” method. To show feasibility, the proposed system is experimentally verified with a newly designed prototype, and sufficient trajectory tracking performance is achieved in a stable manner.


 Unmanned aerial vehicles (UAVs), which are available in our lives in many areas today, bring with them new expectations and needs along with developing technology. In order to meet these expectations and needs, main subjects such as reducing energy consumption, increasing thrust and endurance, must be taken into account in UAV designs. In this study, Backtracking search optimisation (BSO) algorithm-based adaptive neuro-fuzzy inference system (ANFIS) model is proposed for the first time to improve UAV thrust. For this purpose, first, different batteries and propellers were tested on the thrust measuring device and a data set was obtained. Propeller diameter and pitch, current, voltage and the electronic speed controller (ESC) signal were selected as input, and UAV thrust was selected as output. ANFIS was used to relate input and output parameters that do not have a direct relationship between them. In order to determine the ANFIS parameters at the optimum value, ANFIS was trained with the obtained data set by using BSO algorithm. Then, the objective function based on the optimum ANFIS structure was integrated into BSO algorithm, and the input values that gave the optimum thrust were calculated using BSO algorithm. Simulation results, in which parameters such as engine, battery and propeller affecting the thrust are taken into account equally, emphasise that the proposed method can be used effectively in improving the UAV thrust. This hybrid method, consisting of ANFIS and BSO algorithm, can reduce the cost and time loss in UAV designs and allows many possibilities to be tested.

Improvement of UAV thrust using the BSO algorithm-based ANFIS model

Variable pitch propeller is being implemented in a small-scale electric Unmanned Aerial Vehicles (UAV)21 to improve efficiency of energy consumption, especially in a cruise flight condition of UAVs. The pitch value of the variable pitch propeller is determined with an equation that depends on two main variables which is the UAV’s airspeed and RPM of the UAV’s motor. In this paper, the energy consumption of a variable pitch propulsion system during a UAV’s cruising condition is being compared with the energy consumption of a cruising condition of a UAV using a fixed pitch propeller. As a result, the variable pitch propeller propulsion system is proven to be more efficient than a fixed pitch propeller propulsion system.

Energy consumption comparison of static pitch propeller and variable pitch propeller using maximum thrust equation approach in small scale electric unmanned aerial vehicle

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Energy consumption comparison of static pitch propeller and variable pitch propeller using maximum thrust equation approach in small scale electric unmanned aerial vehicle