Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
Sergio Salazar
Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
Ivan Gonzalez-Hernandez
Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
Yukio Rosales
Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
Rogelio Lozano
Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
Eduardo Salazar
Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
Benjamin Nicolas
Program of Aerial and Submarine Autonomous Navigation Systems, Department of Research and Multidisciplinary Studies, Center for Research and Advanced Studies of the National Polytechnic Institute, Mexico City 07360, Mexico
This article presents a virtual swashplate mechanism for a mini helicopter in classic configuration. The propeller bases are part of a passive mechanism driven by main rotor torque modulaton, this mechanism generates a synchronous and opposite change in the propellers angle of attack, then the thrust vector tilts. This approach proposes to control the 6 degrees of freedom of the aircraft using two rotors. The main rotor controls vertical displacement and uses torque modulation and swing-hinged propellers to generate pitch and roll moments and the horizontal displacement while the yaw moment is controlled by the tail rotor. The dynamic model is obtained using the Newton-Euler approach and robust control algorithms are proposed. Experimental results are presented to show the performance of the proposed virtual swashplate in real-time outdoor hover flights.
