In this research, the implementation of a 3D printed thrust sensor in a multirotor UAV is explored. 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 the effect of the deflection that the thrust force introduces, which is an unwanted effect in most aerial vehicles and especially in multi-rotors. 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 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 created for this application.
When simulating a 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 can have on the system is the rotor velocity. The resulting thrust that the rotor velocity induces is also dependent on factors like the air density, malfunctions and whether there are objects or surfaces near the propeller.
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