涵道式无人机的悬停姿态控制与运动稳定性分析

Hovering attitude control and stability analysis of a ducted-fan unmanned aerial vehicle (UAV)

进行了涵道式无人机的运动稳定性分析,指出无人机在悬停状态下受近地空间、气流颠簸和荷兰滚的影响,导致系统极易出现抖动甚至失控,而优化飞行器的结构参数对于提高飞行器运动稳定性具有重要意义。基于这种分析,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,为提高系统执行飞行任务的可靠性和稳定性奠定理论基础。该方法与Lyapunov直接法相比最大的优点是其可构建性,从而为分析其他机器人等非线性系统的运动稳定性提供了一种简单有效的工具。

The motion stability of any ducted-fan unmanned aerial vehicle（UAV） was analyzed,and the analysis showed that when in a hover state,the ducted-fan UAV is easy to vibrate even it is out of control because of the influences of near-earth space,turbulence,and the Dutch role,while the optimization of the UAV＇s structure parameters is of great significance for improving the motion stability of the vehicle. Based on the analysis,the quantification relationship between the UAV＇s structural parameters and its motion stability was built from the viewpoint of structural design by using the Lyapunov exponent method,with the purposes of guiding the vehicle＇s structural design and control optimization,as well as providing the theoretic basis for promoting the system＇s dynamic stability. The simulation experimental results indicate that compared with the direct Lyapunov method,the proposed method＇s most important advantage is its constructivity,so it is a simple,effective tool for analysis of the motion stability of other non-linear systems such as robots.