基于悬停四旋翼位置姿态信息的风场估计方法研究

Wind Field Estimation Based on Position and Attitude Information of Quadrotor in Hover

基于四旋翼飞行器悬停状态下的位置及姿态信息,提出了一种离线的风场估计方法。首先根据Dryden大气紊流模型建立了四旋翼飞行器所处的风场环境,并通过分析有风情况下旋翼升力的变化,得到旋翼升力与风场信息(风速、风向)的函数关系式;接着利用牛顿-欧拉方法推导出有风扰动下的四旋翼动力学方程,并进一步设计了用于保持飞行器悬停状态的PID控制器;最后,基于悬停状态下四旋翼飞行器的位置姿态信息,计算得到飞行器所处的风场环境信息。MATLAB仿真结果表明所提方法在有紊流干扰的情况下,能够有效地提取出风场环境里的主风信息。

A wind field estimation method is proposed based on the position and attitude information of a quadrotor in this paper. First, the flight environment of the quadrotor aircraft is built based on Dryden atmospheric turbulence model, and the function relation between the rotor lift and the wind field information （ wind speed and the wind di-rection） is obtained by analyzing the change of rotor lift;then the dynamic equation of quadrotor with wind disturb-ance is deduced using the Newton Euler method, and further a PID controller is designed in order to keep the air-craft flying in fixed-point hover;finally, the wind field information is calculated. The simulation results in Matlab/M-file show that the proposed method can effectively extract the main wind information of flight environment.