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A prototype development for a quadcopter with a novel configuration
Thesis (MEng)--Stellenbosch University, 2023.
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| Format: | Thesis |
| Language: | en_ZA en_ZA |
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Stellenbosch : Stellenbosch University
2023
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| _version_ | 1867614047704186880 |
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| access_status_str | Open Access |
| author | Wessels, W. |
| author2 | Smit, W. J. |
| author_browse | Smit, W. J. Wessels, W. |
| author_facet | Smit, W. J. Wessels, W. |
| author_sort | Wessels, W. |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2023. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/129112 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA en_ZA |
| last_indexed | 2026-06-10T12:45:50.231Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/129112 A prototype development for a quadcopter with a novel configuration Wessels, W. Smit, W. J. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Drone aircraft Prototypes, Engineering Quadrotor helicopters Power resources Helicopter rotors Energy transfer Machinery, Kinematics of Mathematical models Thesis (MEng)--Stellenbosch University, 2023. ENGLISH ABSTRACT: Unmanned aerial vehicles have become increasingly important, and multirotors have played a key role in unlocking new possibilities in various applications. However, the quadcopter’s range, payload, and endurance are limited by the energy density of power sources and the eficiency of energy transfer to the air. To overcome these challenges, a new quadcopter coniguration has been introduced that combines the mechanical simplicity of multirotors with the energy eficiency of helicopters. This innovative design comprises a large ixed‑pitch rotor and three smaller rotors, which promises to increase the endurance, energy transfer eficiency, and energy density of the power source. A basic mathematical model was created that captured the most important factors that inluence the dynamics. This model was used as a design tool to size standard components such as motors and propellers. The mathematical model was then extended into a dynamic Simulink model, which allowed analysis of the gyroscopic effect of the large central diameter propeller. The design was checked against this analysis, and the control mixer was derived. The Simulink simulations indicated a high degree of coupling between the quadcopter’s roll and pitch angle responses, primarily due to the gyroscopic effects of the central propeller, offering valuable insights into the intricate quadcopter dynamics. Several practical challenges arose from the use of a petrol engine: the available torque of the petrol engine limited the propeller diameter and pitch, unburned oil ended up on the electrical motors, the restrictive exhaust system hindered the engine’s performance, and vibrations from the internal combustion engine interfered with measurements taken by the inertial measurement unit. The controller was ine‑tuned during the test lights to improve the light performance. Extensive light testing assessed control eficiency, power consumption, and overall response, validating the effectiveness of the mathematical model and design choices. This research opens up new possibilities for quadcopters with extended endurance. The innovative design solutions, coupled with rigorous testing and analysis, present a promising trajectory for the future of quadcopter technology. AFRIKAANSE OPSOMMING: Onbemande lugvaartuie het al hoe belangriker geword, en multirotors het ’n sleutelrol gespeel in die ontsluiting van nuwe moontlikhede in verskeie toepassings. Die quadkopter se reikafstand, loonvrag en uithouvermoë word egter beperk deur die energiedigtheid van kragbronne en die doeltreffendheid van energie‑oordrag na die lug. Om hierdie uitdagings te oorkom, is ’n nuwe quadkopter‑konigurasie bekend gestel wat die meganiese eenvoud van multirotors met die energiedoeltreffendheid van helikopters kombineer. Hierdie innoverende ontwerp bestaan uit ’n groot vastesteek rotor en drie kleiner rotors, wat beloof om die uithouvermoë, energie‑oordragdoeltreffendheid en energiedigtheid van die kragbron te verhoog. ’n Basiese wiskundige model is geskep wat die belangrikste faktore wat die dinamika beı̈nvloed, vasgevang het. Hierdie model is gebruik as ’n ontwerpinstrument om standaardkomponente soos motors en lugskroewe te kies. Die wiskundige model is toe uitgebrei na ’n dinamiese Simulink‑model, wat ontleding van die giroskopiese effek van die groot sentrale deursnee skroef moontlik gemaak het. Die ontwerp is gekontroleer een hierdie analise, en die kontrole menger is afgelei. Die Simulinksimulasies het ’n hoë mate van koppeling tussen die quadkopter se rol‑ en steekhoekreaksies aangedui, hoofsaaklik as gevolg van die giroskopiese effekte van die sentrale skroef, wat waardevolle insigte in die ingewikkelde quadkopter‑dinamika bied. Verskeie praktiese uitdagings het uit die gebruik van ’n petrolenjin ontstaan: die beskikbare wringkrag van die petrolenjin het die skroefdeursnee en ‑steek beperk, onverbrande olie het op die elektriese motors beland, die beperkende uitlaatstelsel het die enjin se werkverrigting belemmer en vibrasies van die binnebrand enjin het ingemeng met die metings wat deur die traagheidsmetingseenheid geneem word. Die kontroleerder is tydens die toetsvlugte fyn ingestel om die vlugprestasie te verbeter. Uitgebreide vlugtoetsing het beheerdoeltreffendheid, kragverbruik en algehele reaksie gemonitor, wat die doeltreffendheid van die wiskundige model en ontwerpkeuses bevestig het. Hierdie navorsing open nuwe moontlikhede vir quadkopters met verlengde uithouvermoë. Die innoverende ontwerpoplossings, tesame met streng toetsing en ontleding, bied ’n belowende trajek vir die toekoms van quadkopter‑tegnologie. Masters 2023-11-22T17:30:15Z 2024-01-08T22:50:38Z 2023-11-22T17:30:15Z 2024-01-08T22:50:38Z 2023-11 Thesis https://scholar.sun.ac.za/handle/10019.1/129112 en_ZA en_ZA Stellenbosch University xix, 101 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Drone aircraft Prototypes, Engineering Quadrotor helicopters Power resources Helicopter rotors Energy transfer Machinery, Kinematics of Mathematical models Wessels, W. A prototype development for a quadcopter with a novel configuration |
| title | A prototype development for a quadcopter with a novel configuration |
| title_full | A prototype development for a quadcopter with a novel configuration |
| title_fullStr | A prototype development for a quadcopter with a novel configuration |
| title_full_unstemmed | A prototype development for a quadcopter with a novel configuration |
| title_short | A prototype development for a quadcopter with a novel configuration |
| title_sort | prototype development for a quadcopter with a novel configuration |
| topic | Drone aircraft Prototypes, Engineering Quadrotor helicopters Power resources Helicopter rotors Energy transfer Machinery, Kinematics of Mathematical models |
| url | https://scholar.sun.ac.za/handle/10019.1/129112 |
| work_keys_str_mv | AT wesselsw aprototypedevelopmentforaquadcopterwithanovelconfiguration AT wesselsw prototypedevelopmentforaquadcopterwithanovelconfiguration |