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首页> 外文期刊>Journal of guidance, control, and dynamics >Kinematic Analysis and Control Design for a Nonplanar Multirotor Vehicle
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Kinematic Analysis and Control Design for a Nonplanar Multirotor Vehicle

机译：非平面多旋翼飞行器运动学分析与控制设计

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摘要

A new class of nonplanar multirotor rotary vehicle is introduced that has the capability of independent control of both thrust and torque vectors in three dimensions. The vehicle configuration is based around the use of six thrust-producing rotors arranged in pairs on three separate reference planes. Variable thrust can be provided via fixed-pitch/variable-speed rotors or variable-pitch/fixed-speed rotors. The orientation of rotor reference planes affects the orthogonality of force and torque control, and it is shown how maneuverability can be traded with propulsive efficiency. The static mapping between force and torque control outputs and rotor inputs is derived from rotor geometry and a simple rotor aerodynamic model that does not include interference between rotors or fuselage drag and does not explicitly include induced-velocity effects. Controllers are synthesized for both position and.attitude control, with acceptable stability demonstrated via Lyapunov analysis. Vehicle closed-loop dynamic response is investigated in simulation, and controller performance is shown to meet design requirements in the presence of unmodeled rotor inertia effects. Experimental results on a static test rig confirm that the simplified rotor aerodynamic modeling used for control synthesis is adequate for symmetric flight conditions around hover. A free-flying prototype has been flight-tested in hover, showing that practical vehicles are possible, accepting the fact that increased control capability comes at the expense of reduced payload and duration, compared with a conventional helicopter.
机译：引入了一种新型的非平面多转子旋转车辆，该车辆具有在三个维度上独立控制推力和转矩矢量的能力。车辆配置基于六个成对布置在三个独立参考平面上的推力产生转子的使用。可变推力可通过定距/变速转子或定距/固定转速转子提供。转子参考平面的方向影响力和转矩控制的正交性，并显示了如何以推进效率交换可操纵性。力和转矩控制输出与转子输入之间的静态映射是从转子几何形状和简单的转子空气动力学模型得出的，该模型不包括转子之间的干扰或机身阻力，也未明确包括感应速度效应。控制器可同时进行位置和姿态控制，并通过Lyapunov分析证明了可接受的稳定性。在仿真中研究了车辆的闭环动态响应，并在存在未建模的转子惯性效应的情况下，表明控制器的性能符合设计要求。静态试验台上的实验结果证实，用于控制综合的简化转子空气动力学模型足以满足悬停周围的对称飞行条件。一款自由飞行的原型机已经在悬停状态下进行了飞行测试，这表明实用的车辆是可行的，并且接受这样一个事实，即与传统直升机相比，增加控制能力是以减少有效载荷和减少飞行时间为代价。

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