University of Twente Student Theses


Design, modeling, and control of a novel multirotor UAV with embedded 3D-printed thrust force sensor

Prakken, E.B. (2022) Design, modeling, and control of a novel multirotor UAV with embedded 3D-printed thrust force sensor.

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Abstract:When simulating an Unmanned Aerial Vehicle (or UAV), the thrust force of the propellers is often seen as the input of the system to have an effect on the system states: the position and the orientation of the vehicle. However, the actual input that a multirotor control can have on the system is the rotor velocity. The resulting thrust generated by the rotor velocity is also dependent on factors like the air-density, malfunctions and whether there are objects or surfaces near the propeller. In this research the implementation of strain gauges in a multirotor UAV is explored. These strain gauges are used to design a sensor that is implemented in the arms of a multirotor. The sensors measure the strain in the arms which is produced by the thrust of its associated propeller. However, this strain is coherent with deflection that the thrust force introduces, which is an unwanted effect in most aerial vehicles and especially in multirotors. Flexibility can cause unwanted vibrations and can lead to an uncontrollable system. This thesis goes into the consequences of flexibility in multirotor UAVs and discusses how the thrust can be measured under the influence of the UAV dynamics. A 2D UAV model has been used to analyse the elastic behaviour in the arms of the multirotor. Furthermore, it discusses the characteristics and the performance of the 3D printed sensor that has been designed and implemented for this application.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:54 computer science
Programme:Electrical Engineering MSc (60353)
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