A contact stress capacity expression is derived for cylindrical worm sets by considering the worm as a helical rack mating with a helical gear. The concept of the equivalent spur gear for a helical gear defined by the instantaneous radius of curvature in the virtual plane of the helical gear is utilized in the contact stress capacity model formulation. All the basic design parameters of worm and gear are incorporated in the expression which explicitly shows the influence of the base and nominal helix angles on the contact stress. By considering the geometry of the worm and gear in engagement, active gear face width and active threaded length of the worm are defined and used to estimate load sharing among gear teeth. This allows the interaction of motion and forces in wormset meshes to be captured by a semi-empirical factor, an aspect not previously considered. The new model also accounts for multiple threaded worms which seem not to have been treated till now. The service load factor expression for cylindrical gears is modified for wormsets to take account of different worm thread profile designs and mesh friction. Four illustrative examples of contact stress computations are carried out using the new contact stress capacity model for wormset designs from different references. The contact stress estimates from the new model are compared with previous solution values. The estimated percentage variances between the previous and new model values are within the range of -4.5% to 0.3%. These variances indicate excellent to a very favorable comparison that should inspire some confidence in using the new model for preliminary design tasks of cylindrical wormsets.
{"title":"A contact stress capacity model for cylindrical wormsets","authors":"E. Osakue, Lucky Anetor","doi":"10.5937/fme2201001o","DOIUrl":"https://doi.org/10.5937/fme2201001o","url":null,"abstract":"A contact stress capacity expression is derived for cylindrical worm sets by considering the worm as a helical rack mating with a helical gear. The concept of the equivalent spur gear for a helical gear defined by the instantaneous radius of curvature in the virtual plane of the helical gear is utilized in the contact stress capacity model formulation. All the basic design parameters of worm and gear are incorporated in the expression which explicitly shows the influence of the base and nominal helix angles on the contact stress. By considering the geometry of the worm and gear in engagement, active gear face width and active threaded length of the worm are defined and used to estimate load sharing among gear teeth. This allows the interaction of motion and forces in wormset meshes to be captured by a semi-empirical factor, an aspect not previously considered. The new model also accounts for multiple threaded worms which seem not to have been treated till now. The service load factor expression for cylindrical gears is modified for wormsets to take account of different worm thread profile designs and mesh friction. Four illustrative examples of contact stress computations are carried out using the new contact stress capacity model for wormset designs from different references. The contact stress estimates from the new model are compared with previous solution values. The estimated percentage variances between the previous and new model values are within the range of -4.5% to 0.3%. These variances indicate excellent to a very favorable comparison that should inspire some confidence in using the new model for preliminary design tasks of cylindrical wormsets.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"48 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89812229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The decisions made during the preliminary design phases considerably impact the development of a product's lifecycle, acting on its environmental performance, cost, and duration of its realization. However, the lack of relevant information during these phases does not allow for the accurate evaluation of design solutions. In addition, it generates schedule delays and overruns in the budget allocated to developing a given solution. In this perspective, the present work aims to assess the accuracy of the behavior models used for exploring solutions during the embodiment phase. This was based on two measures of different nature, namely objective accuracy, which is evaluated by referring to real prototyping of a given solution, and the subjective accuracy measure, which allows to the expression of the degradation of the first measure in relation to the reference point. This combination will lead to a measure that can be generalized on all the design space. In a second step, the current work suggests an estimation of the effect of these models' accuracy on the proposed solutions' environmental impact. To this end, a sensitivity study was carried out on the input data of the model (design parameters) in order to deduce the effect of the results obtained (performance parameters) on the mass and, consequently, the environmental impact of the solution. In order to highlight the approach adopted in the present study, it was applied to a real industrial case, ultimately leading to the most optimized solution in terms of accuracy and environmental impact.
{"title":"Early environmental assessment of products using behavior models and the impact of their inaccuracy on environmental product performance","authors":"Houda Bouyarmane, Amine El, M. Sallaou","doi":"10.5937/fme2204715b","DOIUrl":"https://doi.org/10.5937/fme2204715b","url":null,"abstract":"The decisions made during the preliminary design phases considerably impact the development of a product's lifecycle, acting on its environmental performance, cost, and duration of its realization. However, the lack of relevant information during these phases does not allow for the accurate evaluation of design solutions. In addition, it generates schedule delays and overruns in the budget allocated to developing a given solution. In this perspective, the present work aims to assess the accuracy of the behavior models used for exploring solutions during the embodiment phase. This was based on two measures of different nature, namely objective accuracy, which is evaluated by referring to real prototyping of a given solution, and the subjective accuracy measure, which allows to the expression of the degradation of the first measure in relation to the reference point. This combination will lead to a measure that can be generalized on all the design space. In a second step, the current work suggests an estimation of the effect of these models' accuracy on the proposed solutions' environmental impact. To this end, a sensitivity study was carried out on the input data of the model (design parameters) in order to deduce the effect of the results obtained (performance parameters) on the mass and, consequently, the environmental impact of the solution. In order to highlight the approach adopted in the present study, it was applied to a real industrial case, ultimately leading to the most optimized solution in terms of accuracy and environmental impact.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"118 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77407082","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Wind energy is a potential replacement for traditional, fossil-fuel-based power generation sources. One important factor in the process of wind energy generation is to design of the optimal layout of a wind farm to harness maximum energy. This layout optimization is a complex, NP-hard optimization problem. Due to the sheer complexity of this layout design, intelligent algorithms, such as the ones from the domain of natural computing, are required. One such effective algorithm is the simulated evolution (SE) algorithm. This paper presents a simulated evolution algorithm engineered to solve the wind farm layout design (WFLD)optimization problem. In contrast to many non-deterministic algorithms, such as genetic algorithms and particle swarm optimization which operate on a population, the SE algorithm operates on a single solution, decreasing the computational time. Furthermore, the SE algorithm has only one parameter to tune as opposed to many algorithms that require tuning multiple parameters. A preliminary empirical study is done using data collected from a potential location in the northern region of Saudi Arabia. Experiments are carried out on a 10 × 10 grid with 15 and 20 turbines while considering turbines with a rated capacity of 1.5 MW. Results indicate that a simulated evolution algorithm is a viable option for the said problem.
{"title":"Adaptation of the simulated evolution algorithm for wind farm layout optimization","authors":"Salman A. Khan","doi":"10.5937/fme2204664k","DOIUrl":"https://doi.org/10.5937/fme2204664k","url":null,"abstract":"Wind energy is a potential replacement for traditional, fossil-fuel-based power generation sources. One important factor in the process of wind energy generation is to design of the optimal layout of a wind farm to harness maximum energy. This layout optimization is a complex, NP-hard optimization problem. Due to the sheer complexity of this layout design, intelligent algorithms, such as the ones from the domain of natural computing, are required. One such effective algorithm is the simulated evolution (SE) algorithm. This paper presents a simulated evolution algorithm engineered to solve the wind farm layout design (WFLD)optimization problem. In contrast to many non-deterministic algorithms, such as genetic algorithms and particle swarm optimization which operate on a population, the SE algorithm operates on a single solution, decreasing the computational time. Furthermore, the SE algorithm has only one parameter to tune as opposed to many algorithms that require tuning multiple parameters. A preliminary empirical study is done using data collected from a potential location in the northern region of Saudi Arabia. Experiments are carried out on a 10 × 10 grid with 15 and 20 turbines while considering turbines with a rated capacity of 1.5 MW. Results indicate that a simulated evolution algorithm is a viable option for the said problem.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"44 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73788407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the metal removal process, the condition of the tool plays a vital role to achieve maximum productivity. Hence, monitoring the tool condition becomes inevitable. The multipoint cutting tool used in the face milling process is taken up for the study. Cutting inserts made up of carbide with different conditions such as fault-free tool (G), flank wear (FW), wear on rake face (C) and tool with broken tip (B) are considered. During machining of mild steel, vibration signals are acquired for different conditions of the tool using a tri-axial accelerometer, and statistical features are extracted. Then, the significant features are selected using the decision tree algorithm. Support Vector Machine(SVM) algorithm is applied to classify the conditions of the tool. The results are compared with the performance of the K-Star algorithm. The classification accuracy obtained is encouraging hence, the study is recommended for real-time application.
{"title":"Multi-point tool condition monitoring system: A comparative study","authors":"K. Pradeep, V. Muralidharan, Hameed Shaul","doi":"10.5937/fme2201193k","DOIUrl":"https://doi.org/10.5937/fme2201193k","url":null,"abstract":"In the metal removal process, the condition of the tool plays a vital role to achieve maximum productivity. Hence, monitoring the tool condition becomes inevitable. The multipoint cutting tool used in the face milling process is taken up for the study. Cutting inserts made up of carbide with different conditions such as fault-free tool (G), flank wear (FW), wear on rake face (C) and tool with broken tip (B) are considered. During machining of mild steel, vibration signals are acquired for different conditions of the tool using a tri-axial accelerometer, and statistical features are extracted. Then, the significant features are selected using the decision tree algorithm. Support Vector Machine(SVM) algorithm is applied to classify the conditions of the tool. The results are compared with the performance of the K-Star algorithm. The classification accuracy obtained is encouraging hence, the study is recommended for real-time application.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"76 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73973794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Mohammed, Shibly A. Al-Samarraie, Alaa Abdulhady Jaber
Backlash is a common nonlinear phenomenon in mechanical systems, producing undesired behavior such as inaccuracies and oscillations. Instability thereby may limit the speed and position in industrial robots, automotive, and other applications. In this paper, a two-mass system connected by a gearbox is modeled as a hybrid system based on a two modes approach. First, the size of the backlash gap is assumed known; thus, when the motor and load are in negative or positive-contact, the system becomes an equivalent system (rigid body) and can be modeled as one degree of freedom, which is described as a second-order system, this mode is called Contact Mode. Second, when the motor reverses its direction, the system behaves as two separated subsystems so that each subsystem can be modeled as one degree of freedom; this mode is called Backlash Mode. A sliding mode controller (SMC) has been proposed for the above two modes in this work. Hence, two sliding mode controllers are designed, one for the contact mode to achieve tracking position performance, while the other is for the backlash mode to achieve stability. Finally, the two controllers are connected by designing a switching control mode based on the gap conditions and size. The proposed control system is tested considering two different desired references. The simulation result proved the ability and robustness of the designed SMC controllers to force the load position to track the desired reference position and overcome the nonlinearities and drawbacks of SMC, such as chattering.
{"title":"Design of a robust controller for a gearboxconnected two-mass system based on a hybrid model","authors":"A. Mohammed, Shibly A. Al-Samarraie, Alaa Abdulhady Jaber","doi":"10.5937/fme2201079m","DOIUrl":"https://doi.org/10.5937/fme2201079m","url":null,"abstract":"Backlash is a common nonlinear phenomenon in mechanical systems, producing undesired behavior such as inaccuracies and oscillations. Instability thereby may limit the speed and position in industrial robots, automotive, and other applications. In this paper, a two-mass system connected by a gearbox is modeled as a hybrid system based on a two modes approach. First, the size of the backlash gap is assumed known; thus, when the motor and load are in negative or positive-contact, the system becomes an equivalent system (rigid body) and can be modeled as one degree of freedom, which is described as a second-order system, this mode is called Contact Mode. Second, when the motor reverses its direction, the system behaves as two separated subsystems so that each subsystem can be modeled as one degree of freedom; this mode is called Backlash Mode. A sliding mode controller (SMC) has been proposed for the above two modes in this work. Hence, two sliding mode controllers are designed, one for the contact mode to achieve tracking position performance, while the other is for the backlash mode to achieve stability. Finally, the two controllers are connected by designing a switching control mode based on the gap conditions and size. The proposed control system is tested considering two different desired references. The simulation result proved the ability and robustness of the designed SMC controllers to force the load position to track the desired reference position and overcome the nonlinearities and drawbacks of SMC, such as chattering.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"90 33 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77951301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
I. Sukmana, Fauzi Ibrahim, M. Badaruddin, Hadi Nur
The low cycle fatigue behavior of magnesium (Mg) AZ31B was observed at room temperature, in which its extrusion process led to differences in tensile and compressive stresses, with an increase in the grain structure and mechanical properties. The extrusion process results showed changes in the microstructure due to cyclic load-deformation at the longitudinal section with grain direction and shape. Furthermore, Mg AZ31B also showed transitional behavior from cyclic softening to hardening when the strain amplitude was increased. At a strain amplitude of 0.006 - 0.01 mm/mm, the Bauschinger phenomenon was observed. The effect factor was calculated by the yield stress and strain at compression stress. Furthermore, precipitation or local failure of the second phase was the main factor that caused the Bauschinger phenomenon. The fatigue fracture characteristics based on deformation due to cyclic loading include precipitation, fatigue striation, dimples, micro-cracks, and beach mark fatigue. Therefore, the correlation of the total failure cycle with plastic and the elastic strain was obtained as an equation to predict the lifespan of Mg AZ31B.
{"title":"Low cycle fatigue properties of extruded magnesium AZ31B","authors":"I. Sukmana, Fauzi Ibrahim, M. Badaruddin, Hadi Nur","doi":"10.5937/fme2203422s","DOIUrl":"https://doi.org/10.5937/fme2203422s","url":null,"abstract":"The low cycle fatigue behavior of magnesium (Mg) AZ31B was observed at room temperature, in which its extrusion process led to differences in tensile and compressive stresses, with an increase in the grain structure and mechanical properties. The extrusion process results showed changes in the microstructure due to cyclic load-deformation at the longitudinal section with grain direction and shape. Furthermore, Mg AZ31B also showed transitional behavior from cyclic softening to hardening when the strain amplitude was increased. At a strain amplitude of 0.006 - 0.01 mm/mm, the Bauschinger phenomenon was observed. The effect factor was calculated by the yield stress and strain at compression stress. Furthermore, precipitation or local failure of the second phase was the main factor that caused the Bauschinger phenomenon. The fatigue fracture characteristics based on deformation due to cyclic loading include precipitation, fatigue striation, dimples, micro-cracks, and beach mark fatigue. Therefore, the correlation of the total failure cycle with plastic and the elastic strain was obtained as an equation to predict the lifespan of Mg AZ31B.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"69 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82590523","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In the present work, a flow field study was performed for off-design conical nozzles with non-circular cylindrical throat sections such as those found in experimental sounding rocket motor applications. The flow field was simulated with the RANS model in ANSYS-Fluent R16.2 code for 2D domains. The governing equations used are conservation of mass, momentum, energy, and state. Sutherland's equation for viscosity as a function of temperature and the Spalart-Allmaras turbulence model was used to simulate overexpanded flow turbulence. The results showed pressure and Mach number fluctuations as the throat length increased. In the throat section, it is concluded that for the length range of 5 to 15% of the throat diameter, the flow accelerates without the presence of internal shock.
{"title":"Throat length effect on the flow patterns in off-design conical nozzles","authors":"San Tolentilo, Jorge Mírez","doi":"10.5937/fme2201271t","DOIUrl":"https://doi.org/10.5937/fme2201271t","url":null,"abstract":"In the present work, a flow field study was performed for off-design conical nozzles with non-circular cylindrical throat sections such as those found in experimental sounding rocket motor applications. The flow field was simulated with the RANS model in ANSYS-Fluent R16.2 code for 2D domains. The governing equations used are conservation of mass, momentum, energy, and state. Sutherland's equation for viscosity as a function of temperature and the Spalart-Allmaras turbulence model was used to simulate overexpanded flow turbulence. The results showed pressure and Mach number fluctuations as the throat length increased. In the throat section, it is concluded that for the length range of 5 to 15% of the throat diameter, the flow accelerates without the presence of internal shock.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"41 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81085613","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, a sensorless method of detecting the spool position of a high-speed on/off solenoid valve is presented. The method depends on analyzing the time-current curve of the solenoid coil passing current and measuring the maximum stroke of the valve spool, such that the dynamic behavior of the valve is estimated and the spool displacement curve is plotted. A mathematical model of the solenoid valve is developed and the effect of the hydraulic force on the valve spool is studied. Experimental results show that the proposed method error is less than 7% when compared to valve spool displacement measured by the commonly used linear variable displacement transducer.
{"title":"Sensorless position estimating and transition time identifying for the spool of a high speed on/off solenoid valve","authors":"A. Aborobaa, K. Ghamry, A. Saleh, M. Mabrouk","doi":"10.5937/fme2201099a","DOIUrl":"https://doi.org/10.5937/fme2201099a","url":null,"abstract":"In this paper, a sensorless method of detecting the spool position of a high-speed on/off solenoid valve is presented. The method depends on analyzing the time-current curve of the solenoid coil passing current and measuring the maximum stroke of the valve spool, such that the dynamic behavior of the valve is estimated and the spool displacement curve is plotted. A mathematical model of the solenoid valve is developed and the effect of the hydraulic force on the valve spool is studied. Experimental results show that the proposed method error is less than 7% when compared to valve spool displacement measured by the commonly used linear variable displacement transducer.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"41 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76370070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
L. Paulovics, J. Rohde-Brandenburger, C. Tóth-Nagy
Several methods are used for investigating timing chain wear, from fired engine dynamometer tests through tribological model tests to simulations. Research over the past decade has shown that component or tribometer tests can replace expensive engine dynamometer tests in many cases. Simulation methods can further reduce the cost and time of development. Simulation models require experimentally defined input parameters; therefore, experiment-based methods cannot be completely avoided. However, a comprehensive comparison or validation of the various experimental and simulation techniques is difficult, as the literature on the topic is relatively scarce. This study aims to give a systematic comparison of the results of several investigation methods of timing chain wear, supported by data measured at Széchenyi István University, such as fired engine dynamometer tests, cold dynamometer tests, component tests, and tribometer tests, presenting their benefits and limitations, where possible through examples and results. The study also provides an insight into the compatibility of different measurement methods.
{"title":"Timing chain wear investigation methods: Review","authors":"L. Paulovics, J. Rohde-Brandenburger, C. Tóth-Nagy","doi":"10.5937/fme2203461p","DOIUrl":"https://doi.org/10.5937/fme2203461p","url":null,"abstract":"Several methods are used for investigating timing chain wear, from fired engine dynamometer tests through tribological model tests to simulations. Research over the past decade has shown that component or tribometer tests can replace expensive engine dynamometer tests in many cases. Simulation methods can further reduce the cost and time of development. Simulation models require experimentally defined input parameters; therefore, experiment-based methods cannot be completely avoided. However, a comprehensive comparison or validation of the various experimental and simulation techniques is difficult, as the literature on the topic is relatively scarce. This study aims to give a systematic comparison of the results of several investigation methods of timing chain wear, supported by data measured at Széchenyi István University, such as fired engine dynamometer tests, cold dynamometer tests, component tests, and tribometer tests, presenting their benefits and limitations, where possible through examples and results. The study also provides an insight into the compatibility of different measurement methods.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"1 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79313972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were applied for both quadcopters. The plus-configuration creates a yaw moment when a pitch or roll control input is supplied using multi-rotor controls; however, the cross-configuration decouples pitch and roll control from yaw. However, the plus-quad showed considerable instability while rotating with a pitch and rolling due to the self-generated residual rotation of the four rotors, which is small in the cross quadcopter, making it more maneuverability stable. The obtained results showed that both quadcopters consume the same energy amount.
{"title":"Comparing dynamic model and flight control of plus and cross quadcopter configurations","authors":"Ali Mohsin, Jaber Abdulhady","doi":"10.5937/fme2204683m","DOIUrl":"https://doi.org/10.5937/fme2204683m","url":null,"abstract":"This research investigates and demonstrates the fundamental differences in performance and operation of both the cross and quadcopter configurations. The system's nonlinear dynamic model was first derived and implemented in Simulink for each quadcopter. The identical initial control values were applied for both quadcopters. The plus-configuration creates a yaw moment when a pitch or roll control input is supplied using multi-rotor controls; however, the cross-configuration decouples pitch and roll control from yaw. However, the plus-quad showed considerable instability while rotating with a pitch and rolling due to the self-generated residual rotation of the four rotors, which is small in the cross quadcopter, making it more maneuverability stable. The obtained results showed that both quadcopters consume the same energy amount.","PeriodicalId":12218,"journal":{"name":"FME Transactions","volume":"1 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78151037","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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