Aerospace and Electronic Systems - August 2018 - 54
A Remote-Controlled Platform for UAS Testing
Table 1.
Specifications of the UASs under Test
Motor
Propeller
ESC
Control board
Battery
Frame
Quadrotor UAS
Hexarotor UAS
Sunnysky V3508
28 × 12.5 cm
Opto 30 A
Pixhawk V2.4.8
Turnigy 3S, 5,000 mAh
495-mm wheelbase length
Pulso U22 M
28 × 12.5 cm
Opto 30 A
DJI NAZA-M V2
Fullpower 4S, 5,000 mAh
670-mm wheelbase length
Figure 13.
Quadrotor UAS test results.
Figure 14.
Hexarotor UAS test results.
54
IEEE A&E SYSTEMS MAGAZINE
time and analyzes the data. This scenario allows to the technician to give feedback online
to the pilot about the test results and procedure.
PRELIMINARY RESULTS
The proposed system has been used for testing two UASs. The first is a quadrotor with a
diagonal wheelbase length equal to 495 mm,
with a weight of 750 g, and working with a
battery voltage of 11 V (Table 1). Ideally, the
expected FoM value is around 0.028 N/W,
considering a current consumption of 30 A,
which corresponds to 10 min of flight. The
second UAS is a hexarotor with a diagonal
wheelbase length of 670 mm, with a weight
of 2 kg, and working with a battery voltage of
14.8 V (Table 1). Ideally, the expected FoM
value is around 0.044 N/W, considering a current consumption of 30 A, which corresponds
to 10 min of flight.
The testing procedure consists of driving
the UAS manually using the UAS's groundcontrol station. In particular, a test has been
performed for about 45 s in which the pilot executed one throttle variation from the minimum
to the maximum values allowed by the UAS.
For the quadrotor, the test was performed
twice. In the first test, the quadrotor was tested
with all the propellers working (called normal
working). The second test was executed without one propeller. In Figure 13, the obtained
results are depicted in terms of thrust forces
measured by each load cell. The blue and
red lines represent the values acquired in the
first and second tests, respectively. From this
figure, it is possible to observe that the force
values measured by load cell 1 (see Force 1
in Figure 13, red line), are lower than in the
case of normal working of UAS (blue line).
In the second test, at the beginning of the testing procedure, the force values measured by
load cells 1 and 3 are higher than the values
measured by load cell 2 because, for stabilizing the UAS, the control board imposes high
current values to the two motors that are in
the neighborhood of the motor without the
propeller. At the end of the testing procedure,
the force values measured by load cell 3 are
higher than the values measured by load cell 1
because the motor without a propeller is closer to the arm where the load cell 1 is placed
with respect to the arm of the load cell 3.
In Figure 14, the results obtained by testing the hexarotor UAS in the case of all proAUGUST 2018
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