Construction and control of monocopter using MEMS AHRS

Monocopter is a single-wing rotary flight system which has the capability of hovering. This flyer includes two dynamic parts in which more efficiency can be expected in comparison to other Micro UAVs due to the extended area of wing compared to its frame. Low capital cost and simple mechanism in comparison to other systems such as helicopter are the most important specifications of this flight system. In this paper, a model of monocopter flight system has been designed and implemented. An available MEMS attitude and heading reference system (AHRS) sensor has been used for the control purpose. But the main challenge is the technique to reduce the monocopter speed in order to regulate in an acceptable range of AHRS´s operating points. In most of similar projects, designers and constructors have to build a digital compass, in order to recover this challenge. So the sensor´s calibration and their combinations were the main problems which they have to deal with. In this model, the previous designs were employed for reducing the monocopter speed and a novel design will be presented by implementation of a perfect control system using some new elements such as winglet and fly bar. Finally flight tests have been carried out successfully in three phases and results were presented in this paper.