Hello to all,
A new VTOL OAT Bicopter fully stabilized by a 9DOF IMU (arduIMU v2 + HMC5843) has successfully done its fist series of flights. This is the SCORPID-450 build by Matthieu Bourdarias from the french VTOL-UAV Team. The Scorpid-450 UAV uses an innovative design based on Gary Gress concept. The Oblique Active Tilting (OAT) at 45° of the twin engines allow a full pitch control by using the induced gyroscopic moment. Now with only a 9D0F IMU its flight is fully stabilized on its all axis with a dedicated firmware (AutoStab v3.31 JLN) and a special mixing software.
Here the setup used by Matthieu Bourdarias:
- ArduIMU+ V2 flat,
- HMC5843 Triple axis magnetometer,
- Firmware AutoStab v3.31 by Jean-Louis Naudin,
- Two brushless motors + ESC: EMax CF2822 (202W, 1200KV),
- 1 propeller GWS HD9050Rx3 - 1 propeller GWS HD9050x3,
- 1 receiver Futaba R617FS,
- 1 Lipo Turnigy 11.1V (3S1P) 2600 mAh,
Stay tuned on: http://diydrones.com/profile/JeanLouisNaudin
Comments
Yes, I agree about the fact that "this is a dynamically stabilised system on 3 axis". For more informations and details about the Gary's OAT concept, I suggest you strongly to read his patent below:
US Patent #6,719,244: VTOL aircraft control using opposed tiltin...
Regards, Jean-Louis
Maybe I'll try that someday!
Gyroscopic only goes so far, then you need another means of controllable +_ torque. Space vehicles use gyroscopic torque until they reach a limit, then jets expel mass to reset the system. If this vehicle is all ready used it's' torque then you are done. It relies on change of angular vector, servos only travel so much. Maybe this concept could be used in a tri or quad config for fine control, but that's already done with really cool hardware & software. Its a solution with out a problem. Yet it is very impressive. I think you are challenging yourself and succeeding. And that's always a good thing.
Here some infos about the working principle of SCORPID OAT/UAV:
- The throttle control the flight level with the power,
- The Pitch uses the OAT (Oblique Active Tilting), an innovative concept invented by Gary Gress: The spinning propellers acts as spinning gyroscope, when they are tilted on a horizontal axis set at 45° from the pitch axis, their gyroscopic moment induces a torque on the picth axis. This is a true active control with a called CMG (Control Moment Gyroscope) and it is fully used in the space Hubble telescope...
- The Yaw is controlled with a differential tilt of the motor,
- The Roll is simply controlled with a differential speed of the motor.
This imply to use special mixers and a fine tuning of the PID gains.
Regards, Jean-Louis
Hello to All,
You will find below my latest tests flights video with my SCORPID-500 FULL IMU that I have done on Dec 12. This is the same IMU setup and firmware (AutoStab v3.31 JLN) than the SCORPID-450 from Matthieu Bourdarias. Only the PIDs gains have been finely tuned to be in line with the sizes and the weight of the Matthieu's OAT Bicopter.
Flight of the SCORPID-500 OAT/VTOL Full IMU by Jean-Louis Naudin.
Regards, Jean-Louis
Hello Mark, we use Metal Gear servos, Matthieu has used : Hextronik D-MG16 (Digital and Metal gear servos)
As far as I am concerned, I use two HITEC HS-82MG for my Scorpid-500.
Regards, Jean-Louis
Hello Eric, there is no difference between my Scorpid 500 and the Scorpid 450 design from Matthieu, look below:
Regards, Jean-Louis
Hello Eric, the tailplane is not required for hovering and slow flights, it is only usefull to negate its tendency to pitch up during forward flights. We need to conduct more tests in fast translation, I think that, with the help of the IMU and its software, the tailplane is not really necessary.
Regards, Jean-Louis
You may need faster servos, what kind are installed?
Jean-Louis, just noticed in the configuration that the props are different. Why is that?
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