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Aerodynamics and Control of Quadrotors

机译：四旋翼的空气动力学和控制

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摘要

Quadrotors are aerial vehicles with a four motor-rotor assembly for generating lift and controllability. Their light weight, ease of design and simple dynamics have increased their use in aerial robotics research. There are many quadrotors that are commercially available or under development. Commercial off-the-shelf quadrotors usually lack the ability to be reprogrammed and are unsuitable for use as research platforms. The open-source code developed in this thesis differs from other open-source systems by focusing on the key performance road blocks in implementing high performance experimental quadrotor platforms for research: motor-rotor control for thrust regulation, velocity and attitude estimation, and control for position regulation and trajectory tracking. In all three of these fundamental subsystems, code sub modules for implementation on commonly available hardware are provided. In addition, the thesis provides guidance on scoping and commissioning open-source hardware components to build a custom quadrotor. A key contribution of the thesis is then a design methodology for the development of experimental quadrotor platforms from open-source or commercial off-the-shelf software and hardware components that have active community support. Quadrotors built following the methodology allows the user access to the operation of the subsystems and, in particular, the user can tune the gains of the observers and controllers in order to push the overall system to its performance limits. This enables the quadrotor framework to be used for a variety of applications such as heavy lifting and high performance aggressive manoeuvres by both the hobby and academic communities. To address the question of thrust control, momentum and blade element theories are used to develop aerodynamic models for rotor blades specific to quadrotors. With the aerodynamic models, a novel thrust estimation and control scheme that improves on existing RPM (revolutions per minute) control of rotors is proposed. The approach taken uses the measured electrical power into the rotors compensating for electrical loses, to estimate changing aerodynamic conditions around a rotor as well as the aerodynamic thrust force. The resulting control algorithms are implemented in real-time on the embedded electronic speed controller (ESC) hardware. Using the estimates of the aerodynamic conditions around the rotor at this level improves the dynamic response to gust as the low-level thrust control is the fastest dynamic level on the vehicle. The aerodynamic estimation scheme enables the vehicle to react almost instantaneously to aerodynamic changes in the environment without affecting the overall dynamic performance of the vehicle. (Abstract shortened by ProQuest.).
机译：四旋翼飞行器是具有四个电动机-转子组件的飞行器，用于产生升力和可控性。它们的重量轻，易于设计和简单的动力学特性已使其在航空机器人研究中的应用日益广泛。市面上有很多四旋翼转子或正在开发中。商业现成的四旋翼飞机通常缺乏重新编程的能力，因此不适合用作研究平台。本文开发的开源代码与其他开源系统的不同之处在于，它着眼于实现高性能实验四旋翼平台进行研究的关键性能障碍：用于推力调节的电动机-转子控制，速度和姿态估计以及用于位置调节和轨迹跟踪。在这三个基本子系统中，均提供了用于在常用硬件上实现的代码子模块。此外，本文还为确定和调试开源硬件组件以构建自定义四旋翼飞机提供了指导。然后，论文的主要贡献是一种设计方法，用于从具有活跃社区支持的开源或商业现货供应的软件和硬件组件开发实验性四旋翼平台。按照该方法构建的四旋翼飞行器允许用户访问子系统的操作，尤其是用户可以调整观察者和控制器的增益，从而将整个系统推向性能极限。这使四旋翼框架可用于各种应用，例如爱好和学术团体的重物提升和高性能的主动演习。为了解决推力控制的问题，动量和叶片元件理论被用于开发针对四旋翼的转子叶片的空气动力学模型。利用空气动力学模型，提出了一种新颖的推力估算和控制方案，该方案改进了现有的转子RPM（每分钟转数）控制。所采用的方法使用测得的进入转子的电能来补偿电损耗，以估算转子周围不断变化的空气动力学状况以及空气动力学推力。最终的控制算法在嵌入式电子速度控制器（ESC）硬件上实时实现。由于低水平推力控制是车辆上最快的动态水平，因此使用此水平的转子周围空气动力学条件的估计值可以改善对阵风的动态响应。空气动力学估算方案使车辆几乎可以立即对环境中的空气动力学变化做出反应，而不会影响车辆的整体动态性能。 （摘要由ProQuest缩短。）。

著录项

  • 作者

    Bangura, Moses.;

  • 作者单位

    The Australian National University (Australia).;

  • 授予单位 The Australian National University (Australia).;
  • 学科 Aerospace engineering.
  • 学位 Ph.D.
  • 年度 2017
  • 页码 216 p.
  • 总页数 216
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 生理学;
  • 关键词

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