[1]刘云平,李先影,王田苗,等.四旋翼无人机偏航飞行过程量化稳定性分析[J].南京理工大学学报(自然科学版),2016,40(05):520.[doi:10.14177/j.cnki.32-1397n.2016.40.05.003]
 Liu Yunping,Li Xianying,Wang Tianmiao,et al.Quantitative stability of quadrotor unmanned aerial vechicle during yawing[J].Journal of Nanjing University of Science and Technology,2016,40(05):520.[doi:10.14177/j.cnki.32-1397n.2016.40.05.003]
点击复制

四旋翼无人机偏航飞行过程量化稳定性分析
分享到:

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
40卷
期数:
2016年05期
页码:
520
栏目:
出版日期:
2016-10-30

文章信息/Info

Title:
Quantitative stability of quadrotor unmanned aerial vechicle during yawing
文章编号:
1005-9830(2016)05-0520-07
作者:
刘云平12李先影1王田苗2张永宏1梅 平1
1.南京信息工程大学 信息与控制学院,江苏 南京 210044; 2.北京航空航天大学 机械工程及自动化学院机器人研究所,北京 100191
Author(s):
Liu Yunping12Li Xianying1Wang Tianmiao2Zhang Yonghong1Mei Ping1
1.College of Information and Control,Nanjing University of Information Science and Technology, Nanjing 210044,China; 2.College of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China
关键词:
四旋翼无人机 机械结构 量化 运动稳定性 Lyapunov指数
Keywords:
quadrotor unmanned aerial vehicles mechanical structure quantification stability Lyapunov exponents
分类号:
TP242
DOI:
10.14177/j.cnki.32-1397n.2016.40.05.003
摘要:
有效配置四旋翼无人机的运动参数和机械结构参数,可提高飞机飞行过程中的运动稳定性,节约能耗。针对当前运动稳定性分析方法主要以定性分析为主,难以给出系统结构稳定及运动稳定方面的量化分析指标的问题,该文以四旋翼无人机为对象,在偏航飞行阶段,采用Lyapunov指数法建立四旋翼无人机控制输入、机械结构参数与系统运动稳定性之间的量化关系,并给出了参数变化与系统能量消耗的关系,为解决四旋翼无人机偏航过程中存在的失稳、续航能力差等问题提供了理论依据。与其他方法相比,该方法可构建性强,计算简单,可广泛用于其他机器人非线性系统的运动稳定性分析。
Abstract:
The reasonable configuration of structural parameters and dynamic parameters of the quadrotor unmanned aerial vehicles is helpful for improving the stability and saving the energy consumption.In view of that the qualitative analysis is still the main methods for analyzing the stability while the index of quantitative analysis of the structural stability is hard to establish,the yawing process of the quadrotor unmanned aerial vehicle is investigated and the Lyapunov exponent is adopted to establish the quantification relationship of the control input and the mechanical structural parameters of quadrotor unmanned aerial vehicles with its stability.The obtained relationship of structural parameters and the energy spectrum provides the analysis basis for improving the stability of the quadrotor unmanned aerial vehicles during yawing,such as the instability and the poor endurance.Compared with the traditional method,the method of Lyapunov exponent is easier to be built and the calculation process is simpler,and it can be widely applied to the stability analysis of nonlinear system of other robots.

参考文献/References:

[1] 白永强,刘昊,石宗英,等.四旋翼无人直升机鲁棒飞行控制[J].机器人,2012,34(5):519-524.
Bai Yongqiang,Liu Hao,Shi Zongying,et al.Robust flight control of quadrotor unmanned air vehicles[J].Robot,2012,34(5):519-524.
[2]肖文.高超声速飞行器横侧向耦合控制技术研究[D].南京:南京航空航天大学自动化学院,2014.
[3]Kumon M,Katupitiya J,Mizumoto I.Robust attitude control of vectored thrust aeria vehicles[J].Journal of Process Control,2011,28(8):2607-2613.
[4]杨云高,鲜斌,殷强,等.四旋翼无人飞行器架构及飞行控制的研究现状[C]//第三十届中国控制会议.烟台:中国科学院系统科学研究所,2011:448-453.
[5]董明明.某直升机起落架参数设计及其动力学特性分析[D].南京:南京航空航天大学航空宇航学院,2010.
[6]谭跃刚.一类可控欠驱动机器人的动力学特性研究[D].武汉:武汉理工大学机电工程学院,2013.
[7]Hong S T,Lee M,Kim D M.Dynamics and control of a single tit-wing UAV[C]//Proceeding of the Control,Automation and Systems(ICCAS),2012 12th International Conference on.Jeju Island,Korea:IEEE,2012:430-432.
[8]李一波,宋述锡.基于模糊自整定PID四旋翼无人机悬停控制[J].控制工程,2013,20(5):910-914.
Li Yibo,Song Shuxi.Hovering control for quadrotor unmanned helicopter based on fuzzy self-tuning PID algorithm[J].Control Engineering of China,2013,20(5):910-914.
[9]Pflimlin J M,Soueres P,Hamel T.Position control of a ducted fan VTOL UAV in crosswind[J].International Journal of Control,2007,80(5):666-683.
[10]Amiri N,Ramirez Serrano A.Integral backstepping control of an unconventional dual-fan unmanned aerial vehicle[J].J Intell Robot Syst,2013,69:147-159.
[11]Islam S,Liu P X,Saddik A El.Nonlinear adaptive control for quadrotor flying vehicle[J].Nonlinear Dynamics,2014,78:117-133.
[12]Xia J,Xiao D.Chaotic time series prediction model based on the Lyapunov index and CBP[J].Statistics and Decision,2007,19(2):21-44.
[13]Li X,Kang T,Quan H,et al.Research based on the correlation dimension and maximum Lyapunov exponent motion HRV signal[J].Biomedical Engineering Research,2009,28(3):188-192.
[14]Sun Y,Wu C Q.Stability analysis via the concept of Lyapunov exponents:A case study in optimal controlled biped standing[J].International Journal of Control,2012,85(12):1952-1966.
[15]Dingwell J B,Marin L C.Kinematic variability and local dynamic stability of upper body motions when walking at different speeds[J].Journal of Biomechanics,2006,39:444-452.
[16]Yang C,Wu Q.On stabilization of bipedal robots during disturbed standing using the concept of Lyapunov exponents[J].Robotica,2006,24:621-624.
[17]Emad N Abdulwahab,Qasim A Atiyah.Aircraft lateral-directional stability in critical cases via Lyapunov exponent criterion[J].AI-Khwarizmi Engineering Journal,2013,9(1):29-38.
[18]张文超,谭思超,高璞珍.基于Lyapunov指数的摇摆条件下自然循环流动不稳定性混沌预测[J].物理学报,2013,26(6):060502-1-8.
Zhang Wenchao,Tan Sichao,Gao Puzhen.Chaotic forecasting of natural circulation flow instabilities under rolling motion based on Lyapunov exponents[J].Acta Physica Sinica,2013,26(6):060502-1-8.

备注/Memo

备注/Memo:
收稿日期:2015-11-30 修回日期:2016-05-20
基金项目:国家自然科学基金(51405243; 51575283); 江苏省自然科学基金(BK20130999)
作者简介:刘云平(1979-),男,博士,副教授,主要研究方向:智能机器人,多体系统动力学,运动稳定性,气象仪器等,E-mail:uav_nuist@sina.com。
引文格式:刘云平,李先影,王田苗,等.四旋翼无人机偏航飞行过程量化稳定性分析[J].南京理工大学学报,2016,40(5):520-526.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2016-10-30