Development of UGS Monocopter: Platform Design and Trajectory Tracking

摘要

This paper covers the aspects of designing the control system of the monocopter wing Micro Aerial Vehicle (MAV). The monocopter is a single bladed vehicle which rotates the entire aircraft about its centre of mass. A working monocopter was used in this project. A motion capture system called OptiTrack and other simple programs such as SolidWorks and MATLAB was heavily used to ease the process of this research project. Flight trajectory data of the monocopter were obtained using the motion capture system, OptiTrack. The data was plotted against time into 3D and 2D graphs using MATLAB. Relevant data such as the body angular rates and linear velocity of the monocopter can be obtained by using the x,y,z coordinates from the flight trajectory data. A rough model of the monocopter was sketched using SolidWorks in order to get the moment of inertia. Thus, the values of body angular rates, linear velocity and moment of inertia can be inserted into the equations of motion of the monocopter to determine the forces and moments output results. It is concluded that the values of forces and moments can be used to find relevant information or behaviour of the flying monocopter such as the amount of forces needed to pitch at a certain angle. Forces and moments can also be used to find the values of coefficient of lift and moments.