March 29, 2024

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Clever Control Loop Makes This Spinning Drone Fault-Tolerant

2 min read
Clever Control Loop Makes This Spinning Drone Fault-Tolerant

Most multi-rotor plane are about as aerodynamic as a brick. Except if all its motors are turning and the command electronics are accomplishing their issue, most UAVs are swiftly destined to turn into UGVs, and usually in breathtaking vogue. But by switching up points a bit, it is achievable to make a multi-rotor drone that retains on flying even with out two-thirds of its motors operating.

We have been keeping a close eye on [Nick Rehm]’s interesting spinning drone challenge, which basically eschews a rigid airframe for a established of 3 airfoils joined to a central hub. The collective pitch of the blades can be controlled through a servo in the hub, and the complete thing can be made to rotate and give elevate many thanks to the thrust of suggestion-mounted motors and props. We have seen [Nick] control to get this contraption airborne, and hovering is rather simple. The online video beneath covers the subsequent stage: getting pitch, roll, and yaw management above the spinning blades of doom.

The challenge isn’t trivial. First off, [Nick] had to come to a decision what the entrance of a spinning plane even suggests. As a result of the clever uses of LED strips mounted to the airfoils and some POV magic, he was equipped to visually suggest a reference axis. From there he was equipped to arrive up with a scheme to fluctuate the ability to every single motor as it moves relative to the reference axis, modulating it in possibly a sine or cosine function to obtain roll and pitch command. This in essence imitates the cyclic pitch handle of a typical helicopter — a type of virtual swashplate.

The success of all this are outstanding, if a bit terrifying. [Nick] obviously has management of the aircraft even though it is spinning at 250 RPM, but even cooler is the little bit the place he kills very first one particular then two motors. It struggles, but it’s nonetheless controllable enough for a bumpy but secure landing.