Abstract
A variable pitch propeller dramatically improves agility of a quadrotor UAV. However, this propeller has two degree-of-freedom inputs for one thrust, namely the number of revolutions and propeller pitch angle. Therefore we have to select an appropriate pair of the number of revolutions and the propeller pitch angle for the reference thrust to generate optical motion. In this study, we develop a flight simulator of the quadrotor UAV including the movement of the variable pitch propeller. First, we examine thrust variation with respect to the number of revolutions, pitch propeller angle, and consumption power. Then, we implement the model of the variable pitch propeller obtained from the experiment to the simulator. Finally, we demonstrate half-flip motion of the quadrotor UAV that is motion of the UAV with the variable pitch propeller by using the developed simulator.
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