Concurrent Optimization of Mechanical Design and Control for Flapless Samara-Inspired Autorotating Aerial Robot

摘要

For an aerial craft that autorotates for its flight similar to its biological counterpart, the maple seed, it is intuitive to use a flap or an aileron to control its drop trajectory. In this work, we propose the use of a single thruster unit, as an alternative to the flap, for its multi-directional trajectory control. A thrust unit provides a more focused and precise application of aerodynamic force and torque, and its assembly is light enough to be mounted in various configurations on the craft. A concurrent mechanical design and control parameter optimization is carried out using Genetic Algorithm to determine the optimal physical configuration of the thruster and the parameters for square cyclic control. The objective function of this optimization is designed to achieve the best glide slope with minimum undesired oscillations. Simulations are carried out in 6DOF environment to evaluate performance of the optimum configuration compared to less optimal configurations. Real-life experimental drop tests with a physical prototype are carried out via hand launching to verify the glide slope and drop characteristics.