Development of a novel variable-pitch quadrotor UAV

Abstract

Consulta en la Biblioteca ETSI Industriales (Riunet)

[EN] This thesis is the result of a project to design a novel variable-pitch actuated Quadrotor. The variable-pitch actuation applied to a Quadrotor aims to improve important aspects as manoeuvrability, control robustness or tolerance to propulsion failures. In this document the entire development of a prototype with the novel variable-pitch actuation is presented. This development is composed of the initial design, component selection, 3D CAD, mathematical and simulation modelling, control systems design, prototyping and systems integration. Also, a non-intrusive speed measurement for brushless motors where the readings are obtained from the electronic speed controller (ESC) is implemented. Finally, test results of the prototype attached to a ball joint test rig and actual flight test data are presented along with simulation of propulsion fault scenarios. Keywords: Variable-Pitch Propeller, Quadrotor design, UAV, Novel Actuator, Overactuated, Speed Measurement.