考虑惯性积时多旋翼的可控性分析与度量方法

Controllability analysis and degree of controllability for multicopters considering the product of inertia

多旋翼飞行器每个旋翼只能提供单一方向的力,其可控性分析与度量问题有其特殊性。在已有研究的基础上,研究了多旋翼飞行器在惯性积不可忽略时的可控性分析方法。进一步地,提出了一种新的多旋翼飞行器可控性度量指标。与文献中已有指标相比,本文所提的指标不仅具有已有指标的功能,而且还能够反应飞行器惯性积的改变对其可控度的影响。最后,仿真结果表明了所给出的可控性分析方法以及可控性度量指标的有效性。

As each propulsor of a multicopter can only provide unidirectional thrust, the controllability analysis and quantification problem need to be carefully studied. Based on the existing results, this paper studies the controllability analysis method for multicopters when the product of inertia should not be neglected. Besides, a new controllability quantification index is proposed to show the degree of controllability. Compared with the available control authority index （ACAI）, the new index proposed can show the effect of product of inertia to the controllability of multicopters whilst the new index performs the same functions as the ACAI. Finally, simulation results show the effectiveness of the proposed controllability analysis method and the new controllability quantification index.