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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Modeling Quadrotor Dynamics in a Wind Field
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Modeling Quadrotor Dynamics in a Wind Field

机译：在风场中建模四极动力学

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This article presents aerodynamic modeling of quadrotors taking into account the effect of wind. Model equations are derived using blade element momentum theory and combined with classical quadrotor dynamics. Parameters are identified by a wind tunnel experiment. The resulting dynamics differ from the classical ones in two aspects. First, the effect of external wind is directly included. Second, the drag force and torque generated due to the movement of quadrotor itself, which exists without external wind, are also included. The second takes place because four propellers move in the air due to translational and rotational motions of the quadrotor. Both aspects are novel to the widely used quadrotor dynamics. Model validation is carried out by both theoretical analysis and experiment. Analyzing the model leads to the fact that when the quadrotor is linear-quadratic regulator controlled, it loses stability when wind amplitude exceeds a threshold. This fact has been experimentally validated using 20 different cases of wind amplitudes and directions. The experimental results well agree with the theoretical prediction.
机译：本文介绍了轮流调节器的空气动力学建模，以考虑到风的影响。模型方程是使用刀片元素动量理论导出并与经典的四轮机器动态结合。参数由风洞实验识别。由此产生的动态在两个方面的典型动态不同。首先，直接包括外风的效果。其次，也包括在没有外部风的时态本身的运动而产生的阻力和扭矩。第二种发生，因为由于四个螺旋桨的四个螺旋桨在空气中移动。两个方面都是新颖的是广泛使用的四轮运动动态。模型验证是通过理论分析和实验进行的。分析模型导致了这样一个事实：当电路电机是线性二次调节器控制时，当风幅度超过阈值时，它会失去稳定性。这一事实已经通过20种不同的风幅和方向进行了实验验证。实验结果与理论预测很好。

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