Altitude and attitude controlled quadcopter model is used for the behavior control algorithm testing, before implementation on experimental setup. The main objective system design which will achieve good task performance in combination with dynamic model. Also, model, it important to be relatively easy modify use of other algorithms implement At beginning this article, process described. Quadcopter dynamics equations are simplified by applying several assumptions that form controller...

Due to their abilities, multirotor unmanned aerial vehicles (UAVs) can be used in various missions that require complex and precise movements, so they are a typical representative of robots. Since this type UAV is characterized by high energy consumption, it most importance precisely choose the system parameters components order achieve required flight performance meets mission requirements. In paper, method for characterization propulsion proposed, which fundamental step design process UAV....

This paper presents the novel design of a constant-current/constant-voltage charging control strategy for battery cell. The proposed system represents an extension conventional based on so-called cascade arrangement with adaptation current open-circuit voltage parameter estimation. features two feedback controllers proportional-integral type responsible for: (i) controlling towards its fully charged state, and (ii) simultaneously limiting terminal to avoid constraint violation. on-line...

A key drawback of multirotor unmanned aerial vehicles (UAVs) with energy sources based solely on electrochemical batteries is related to the available on-board energy. Flight autonomy typically limited 15–30 min, a flight duration upper limit 90 min currently being achieved by high-performance battery-powered UAVs. Therefore, propulsion systems that utilize two or more different (hybrid power systems) may be considered as an alternative in order increase while retaining performance benefits...

Identification of a dynamical model and its parameters is one the fundamental problems in field robotics system dynamics modelling.For general situation an object motion with six degrees freedom (6-DOF), such as case Unmanned Aerial Vehicle (UAV), key physical are vehicle mass moment inertia.Even though UAV geometry/topology easily obtainable, it difficult to identify inertia tensor considering that not measurable by static tests.This article presents simple effective method for on-line...

In this paper, an experimental procedure for the identification and characterization of multirotor Unmanned Aerial Vehicle (UAV) propulsion is presented. Propulsion configuration needs to be defined precisely in order achieve required flight performance. Based on accurate dynamic model empirical measurements physical parameters, it possible design diverse configurations with different characteristics various purposes. As a case study, we investigated considerations micro indoor which...

In order to meet the increasingly stricter emissions’ regulations, road vehicles require additional technologies aimed at reduction of emissions from internal combustion engine (ICE). A favorable solution standpoint costs and simplicity integration is a 48-V electrical architecture utilizing low-voltage/high-power induction machine, which operates as so-called belt starter generator (BSG) coupled via timing with ICE crankshaft within P0 mild hybrid power train used for starting up boosting...

This paper presents an online propeller speed estimation system for a multirotor unmanned aerial vehicle (UAV) equipped with brushless DC (BLDC) motors and powered by lithium-polymer battery pack. Propeller is based on drain current measurement extended averaged state-space model of motor utilised within Kalman filter-based state estimator. Based the BLDC physical parameters utilising corresponding mathematical model, implemented flight computer board UAV. The proposed algorithm verified...

This paper deals with the control of direct-current to (DC/DC) energy conversion between high voltage and low systems within a hybrid electric power-train structure intended be used in articulated forestry tractor, also known as skidder. Electrical part is modeled for case utilization parallel array step-down (buck) DC/DC power converters bridge DC buses. Thus obtained models are derive laws primary-level (power converter voltage/current) systems, secondary level allocation) strategy, which...

This paper presents the results of modeling, control system design and simulation verification a hybrid-electric drive topology suitable for power flow within unmanned aerial vehicles (UAVs). The hybrid is based on internal combustion engine (ICE) driving brushless DC (BLDC) generator supplying common bus used distribution aircraft. overall features proportional-integral-derivative (PID) feedback ICE rotational speed using Luenberger estimator engine-generator set estimation. BLDC active...

This paper presents the results of experimental characterization an automotive LiFePO <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">4</sub> battery cell for purpose building a control-oriented equivalent electrical circuit model suitable designing combined state-of-charge (SoC) and state-of-health (SoH) estimator. The SoC/SoH estimator design has been based on time-series representation utilized within extended Kalman filter (EKF) parameter...

This paper presents a generator set speed control system within hybrid propulsion based on an internal combustion engine (ICE) used as the primary energy source for hypothetical multi-rotor unmanned aerial vehicle (UAV). The engine-generator rotational is estimated rotor position sensing from embedded Hall sensors and armature current/voltage measurements framework of Kalman filtering. Based these estimators, ICE systems featuring proportional-integral (PI) proportional-integral-derivative...

This paper presents an online propeller speed estimation system for a multirotor unmanned aerial vehicle (UAV) equipped with brushless DC (BLDC) motors and powered by lithium-polymer battery pack. Propeller is based on drain current measurement extended averaged state-space model of motor utilised within Kalman filter-based state estimator. Based the BLDC physical parameters utilising corresponding mathematical model, implemented flight computer board UAV. The proposed algorithm verified...

The paper presents the hybrid propulsion control system design for a multi-rotor unmanned aerial vehicle (UAV) equipped with internal combustion engine (ICE) and generator as primary energy source direct-current (DC) power DC/DC buck converters controlling input voltage of propeller electrical drives. Control is based on averaged linearized process models engine-generator set converter, utilization damping optimum criterion, systems featuring proportional-integral (PI) feedback controllers...