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基于电压补偿的四旋翼动力系统建模与实验 被引量：5

Modeling and testing of power system based on voltage compensation for quadrotors
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摘要 由于四旋翼飞行器是直接由动力系统驱动控制的,因此动力系统模型的精确性至关重要。提出了一种新的方法,来建立精确的动力系统模型。综合电机螺旋桨、电调和电池模型,从整体上设计了基于电压补偿的动力系统控制模型;然后,搭建了实验平台,通过实验测试与数据处理,对系统进行了参数辨识。结果表明,该模型输出的实际拉力符合预期要求,说明基于电压补偿的动力系统模型,能够有效地提高控制的精确性。 Since the quadrotor is directly driven by the power system,the accuracy of the power system model is essential.This paper presents a novel approach to build an accurate model of the power system.The motor-propeller model,the electronic-speed-controller model and the battery model are integrated to design an overall control model of the power system based on voltage compensation.An experimental testbed is set up to carry out parameter identification for the model through experiments and data processing.The results show that the thrust produced by the model is in line with expectations.The power system based on voltage compensation can effectively improve the accuracy of control.
作者 李彦辉 唐胜景 杨盛毅 刘超 柳阳阳
机构地区 北京理工大学宇航学院飞行器动力学与控制教育部重点实验室
出处 《系统工程与电子技术》 EI CSCD 北大核心 2014年第5期934-939,共6页 Systems Engineering and Electronics
基金 航空科学基金(2012ZA72002)资助课题
关键词 四旋翼 动力系统 电压补偿 参数辨识 quadrotor power system voltage compensation parameter identification
分类号 TP271.4 [自动化与计算机技术—检测技术与自动化装置]
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参考文献15

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共引文献59

同被引文献37

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引证文献5

二级引证文献9

系统工程与电子技术
2014年 第5期

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