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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Toward an Accurate Physics-Based UAV Thruster Model
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Toward an Accurate Physics-Based UAV Thruster Model

机译：建立基于物理的精确无人机推力器模型

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摘要

Small unmanned aerial vehicles (UAVs) come in many types, the most common being fixed-wing and rotorcraft. Most of these are powered by brushless dc motors driving fixed-pitch propellers. Since the thrusters are typically quite powerful, relative to the weight of the aircraft, the motion of these UAVs is usually dominated by the thruster dynamics. It therefore becomes particularly important to have a good model of the thruster, which can be assembled based on simple measurements of the system properties, rather than from exhaustive testing. This paper presents such a model. The governing equations are assembled by considering, in succession, the motor electrodynamics and the propeller aerodynamics. The results of the model are compared to experimental test results for a particular thruster assembly. Agreement between the two is excellent—with an error of 4.7% in thrust and 7.6% in torque under static conditions—thereby demonstrating the validity of the proposed approach.
机译：小型无人机（UAV）有多种类型，最常见的是固定翼和旋翼飞机。其中大多数由无刷直流电动机驱动固定螺距螺旋桨驱动。由于推进器通常相对于飞机的重量是相当强大的，因此这些无人机的运动通常由推进器动力学决定。因此，拥有一个良好的推进器模型就变得尤为重要，该模型可以基于系统特性的简单测量而不是穷举的测试来组装。本文提出了这样一个模型。通过连续考虑电动机电动力学和螺旋桨空气动力学来组装控制方程。将模型的结果与特定推进器组件的实验测试结果进行比较。两者之间的一致性非常好（在静态条件下推力误差为4.7％，转矩误差为7.6％），从而证明了该方法的有效性。

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