旋翼无人机交互作业动力学建模研究进展

Research progress of rotorcraft UAV interactive manipulation dynamic modeling

近年来,作业型旋翼无人机在学界、工业、商业等各大领域受到广泛关注,因其结合旋翼无人机的灵活机动性和作业装置的操作能力实现空中移动作业而具有广阔的应用范围。作业型旋翼无人机与环境交互过程中的动力学行为十分复杂,能否准确建立与环境交互全过程的动力学模型是影响其性能的关键因素。国内外针对作业型旋翼无人机的动力学建模问题开展了深入研究并取得诸多成果,首先,将作业型旋翼无人机的动力学建模技术从飞行模式引申至交互作业模式并重点对后者进行调研,通过不同应用对交互作业模式进行分类并首次根据多体系统动力学中的约束概念对作业型旋翼无人机的交互任务模式进行详细划分。然后,将常用交互作业模式划分为接触、吊挂、抓持3种类型并分别对其动力学建模方法进行调研分析,给出各交互作业模式下的通用性动力学建模方法并对国内外研究现状进行介绍。最后,阐明该领域所面临的挑战并对未来发展趋势进行介绍。

In recent years, manipulating rotorcraft UAVs have received widespread attention in academic, industrial and commercial fields, and have a wide range of applications because of its ability to combine the flexibility and maneuverability of rotorcraft UAVs with the operational capability of manipulators. The dynamics of the interaction between manipulating rotorcraft UAVs and environment is very complex, and the ability to accurately model the dynamics of the entire process of interaction with the environment is a critical factor affecting its performance. This paper firstly extends the dynamics modeling technology of manipulating rotorcraft UAV from flight mode to interactive manipulation mode and focuses on the latter;then classifies the interactive manipulation mode by different applications, and for the first time classifies the interactive task mode of manipulating rotorcraft UAV in detail according to the concept of constraints in multi-body system dynamics. The dynamics modeling methods are then investigated and analyzed, and the generalized dynamics modeling methods for each interactive manipulation mode are given, and the current status of domestic and international research is introduced. Finally, the challenges in this field are clarified and the future development trends are introduced.