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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design and Control of Soft Unmanned Aerial Vehicle “S-CLOUD”
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Design and Control of Soft Unmanned Aerial Vehicle “S-CLOUD”

机译：软无人空中飞行器“S云”的设计与控制

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摘要

Short time-of-flight and safety concerns owing to low efficiency and fast rotation of propellers, respectively, are hurdles in the usage of drones. Usually, drones are carrying out missions that distant from the people like aerial photography, measurement, delivery, and surveillance, and, thus, it is not allowed to deploy drones above crowds. In this article, we present a novel soft drone called S-CLOUD that has longer time-of-flight (more than an hour) and higher user safety. It is composed of a torus-shaped envelope made of soft material, filled with Helium gas, and a center flow control unit mounted at the center of the envelope for producing translational (X-, Y-, and Z-axes) and rotational (Z-axis) motions. In this article, the control unit and envelope design are described in detail, and the characteristics of the drone are explained. Moreover, sensor-based feedback control algorithms and their experimental results are described. Finally, applications with S-CLOUD exhibiting its feasibility are also presented.
机译：由于螺旋桨的低效率和快速旋转的速度低，飞行时间和安全问题分别是障碍的障碍。通常，无人机正在进行遥远的任务，这些特派团与航空摄影，测量，交付和监视等人一起遥远，因此，不允许部署在人群以上的无人机。在本文中，我们介绍了一种名为S云的新型软毒品，具有较长的飞行时间（超过一个小时）和更高的用户安全性。它由圆环形的封闭件组成，由柔软材料制成，填充有氦气，以及安装在外壳中心的中心流量控制单元，用于制造平移（X-，Y和Z轴）和旋转（ Z轴）运动。在本文中，详细描述了控制单元和包络设计，并解释了无人机的特性。此外，描述了基于传感器的反馈控制算法及其实验结果。最后，还提出了具有表现出其可行性的S云的应用。

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