基于动力系统模型的多旋翼性能估算方法
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摘要
续航时间、最大载重量是设计多旋翼飞行器时需要考虑的关键性能指标。提出一种基于动力系统模型的多旋翼飞行器飞行性能估算方法,在分析螺旋桨、电机、电调和电池各部分模型的基础上,建立了多旋翼飞行器悬停状态下非线性系统模型,以动力系统各部分参数作为系统的输入,通过分析系统模型估算飞行器的续航时间、最大载重。利用实验室已有的四旋翼和八旋翼飞行器进行室内飞行试验,结果表明上述估算方法准确有效,可为旋翼飞行器的设计和任务选型提供参考。
The hover time and the maximum load weight which is a flight performance of Multi-rotor aircraft is the most concerned problem when designing aircraft. Therefore, a method of estimating flight performance based on propulsion system model was proposed. Based on the analysis of various models of propeller, motor, ESC and battery, a nonlinear system model of multi-rotor aircraft in hovering mode was established. Taking the parameters of each part of the propulsion system as input, the system model was analyzed to estimate the hover time and the maximum load of the aircraft. Laboratory tests of the existing four-rotor and eight-rotor aircraft were carried out. The results show that the proposed method is accurate and effective, which can provide some reference for the design and task selection of rotorcraft.
The hover time and the maximum load weight which is a flight performance of Multi-rotor aircraft is the most concerned problem when designing aircraft. Therefore, a method of estimating flight performance based on propulsion system model was proposed. Based on the analysis of various models of propeller, motor, ESC and battery, a nonlinear system model of multi-rotor aircraft in hovering mode was established. Taking the parameters of each part of the propulsion system as input, the system model was analyzed to estimate the hover time and the maximum load of the aircraft. Laboratory tests of the existing four-rotor and eight-rotor aircraft were carried out. The results show that the proposed method is accurate and effective, which can provide some reference for the design and task selection of rotorcraft.
引文
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[8] 杨盛毅,等.基于动力系统模型的四旋翼推力估计方法[J].北京理工大学学报,2016,36(6):558-562.
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[2] W R Williamson,et al.An Instrumentation System Applied to Formation Flight[J].IEEE Transactions on Control Systems Technology,2006,15(1):75-85.
[3] Richard Baker.Combining Micro Technologies and Unmanned Systems to Support Public Safety and Homeland Security[J].土木工程与建筑(英文版),2012m(10):1399-1404.
[4] V Ambrosia,et al.Unmanned airborne systems supporting disaster observations:near-real-time data needs[C].34th International Symposium on Remote Sensing of Environment - The GEOSS Era:Towards Operational Environmental Monitoring,2011.
[5] R Mahony,V Kumar,P Corke.Multirotor Aerial Vehicles:Modeling,Estimation,and Control of Quadrotor[J].IEEE Robotics & Automation Magazine,2012,19(3):20-32.
[6] Z Liu,R Sengupta,A Kurzhanskiy.A power consumption model for multi-rotor small unmanned aircraft systems[C].International Conference on Unmanned Aircraft Systems.IEEE,2017:310-315.
[7] J F Roberts,J C Zufferey,D Floreano.Energy management for indoor hovering robots[C].Ieee/rsj International Conference on Intelligent Robots and Systems.IEEE,2008:1242-1247.
[8] 杨盛毅,等.基于动力系统模型的四旋翼推力估计方法[J].北京理工大学学报,2016,36(6):558-562.
[9] B A Moffitt,T H Bradley.Validation of Vortex Propeller Theory for UAV Design with Uncertainty Analysis[C].Aiaa Aerospace Sciences Meeting and Exhibit,2008.
[10] M Merchant,L S Miller.Propeller Performance Measurement for Low Reynolds Number UAV Applications[C].Aiaa Aerospace Sciences Meeting and Exhibit,2006.
[11] AIAA.Efficiency Analysis for Long Duration Electric MAVs[C].Infotech@Aerospace.2005.
[12] P Lindahl,E Moog,S R Shaw.Simulation,Design,and Validation of an UAV SOFC Propulsion System[J].IEEE Transactions on Aerospace & Electronic Systems,2012,48(3):2582-2593.
[13] D Doerffel,S A Sharkh.A critical review of using the Peukert equation for determining the remaining capacity of lead-acid and lithium-ion batteries[J].Journal ofPower Sources,2006,155,(2):395-400.
[14] L W Traub.Range and Endurance Estimates for Battery-Powered Aircraft[J].Journal of Aircraft,2012,48(2):703-707.