摘要
考虑到四旋翼无人机在起飞/着陆过程中,因受近地空间复杂气流等扰动作用而极易出现运动稳定性问题,提出了通过优化飞行器的结构参数来提高飞行器运动控制的稳定性的方法。从机械结构设计出发,通过Lyapunov指数方法建立飞行器结构参数与系统运动稳定性之间的量化关系,以此指导系统的机械结构设计及控制系统优化,提高系统的可靠性和稳定性。该方法的可行性和有效性已通过实例仿真分析得到验证。
Considering that the dynamic stability problems of quadrotor unmanned aerial vehicles are very easy to arise during take-off and landing due to the disturbance from the complex airflow, a method for improvement of an aerial vehicle＇ s dynamic stability by optimization of its structural parameters was proposed. Starting from the structural design of the vehicle, the method uses the Lyapunov exponent approach to establish the quantitative relationship be- tween the structural parameters of a quadrotor unmanned aerial vehicle and its dynamic stability for guiding the de- sign of the vehicle ＇ s mechanical structure and the optimization of its stability control by using the relationship. The feasibility and effectiveness of the proposed method were verified by practical case simulation.
出处
《高技术通讯》
CAS
CSCD
北大核心
2015年第10期927-934,共8页
Chinese High Technology Letters
基金
国家自然科学基金(51405243
51405241)
江苏省自然科学基金(BK20130999)
江苏省普通高校自然科学研究(13KJB460012)
江苏省普通高校研究生科研创新计划(SJLX_0385)资助项目
