2A2-K10 Modeling of a Magnus Effect based Aerial Vehicle and Its Verification by Experiments(Aerial Robot and Mechatronics(2))
Y. Iwakura, Koji Ozawa, Motoyasu Tanaka, Hiroshi Ohtake, Kazuo A. TANAKA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
This paper discusses modeling of the Magnus effect based aerial vehicle presented in our previous paper and its verification by experiments. To realize both low-speed flying and short-distance takeoff in rescue mission purpose, the developed vehicle has a set of (rotationa1) cylindrical wings that is located at the both side (lift and right sides) of the main body of the aerial vehicle. First, we improve the simulation model (constructed in our previous paper) for calculating lift force so as to reduce the errors between the simulation model and experimental data. Next, a three-degree-of-freedom model for the roll angle and x-z positions is constructed and is employed to optimize the dihedral angle of the cylindrical wings. Finally, we demonstrate in experiments that the Magnus effect based aerial vehicle developed in this paper realizes both low-speed flying and short-distance takeoff.