基于双向电机驱动的四旋翼机动飞行控制

doi:10.13700/j.bh.1001-5965.2020.0221

北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (2): 373-381.doi: 10.13700/j.bh.1001-5965.2020.0221

基于双向电机驱动的四旋翼机动飞行控制

徐力昊¹, 张宇¹, 许斌²

1. 浙江大学控制科学与工程学院工业控制技术国家重点实验室, 杭州 310027;
2. 西北工业大学自动化学院, 西安 710072

收稿日期:2020-05-27 发布日期:2021-03-08
通讯作者: 张宇 E-mail:zhangyu80@zju.edu.cn
作者简介:徐力昊,男,硕士研究生。主要研究方向:空中机器人系统控制;张宇,男,博士,副教授。主要研究方向:基于多源信息融合的智能导航与定位、智能控制理论与技术、智能自主系统、人工智能;许斌,男,博士,教授。主要研究方向:智能控制与飞行控制等。
基金资助:
国家自然科学基金（61673341，61933010）；工业控制技术国家重点实验室自主课题（ICT1913）；工业控制技术国家重点实验室开放课题（ICT20037）；航空科学基金（20180753007）

Maneuvering flight control of QUAV based on bi-directional motor actuation

XU Lihao¹, ZHANG Yu¹, XU Bin²

1. State Key Laboratory of Industrial Control Technology, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China;
2. School of Automation, Northwestern Polytechnical University, Xi'an 710072, China

Received:2020-05-27 Published:2021-03-08

摘要/Abstract

摘要： 四旋翼飞行器（QUAV）的位置、姿态运动控制效果决定了其机动性。为了克服四旋翼系统欠驱动的缺陷，基于四元数表达对一种双向电机驱动的四旋翼进行了动力学建模，包括双向推力作用情况下的全向运动过程分析，并提出了一种姿态与位置控制器及控制分配矩阵设计方法。面向四旋翼的x-z平面模型，设定合理的参数和限制，使用最优规划方法提出了适用于新型四旋翼翻转、竖直等机动飞行轨迹的生成方法，其中推力与转矩都是实现时间最短的最优方案。搭建了包括电子调速器、电机、桨叶、机架等部件在内的详细的仿真试验环境。仿真试验的结果验证了双向电机驱动的四旋翼相比于传统四旋翼，能有效提高姿态跟踪与位置跟踪的精度，提升了飞行器的机动性。

关键词: 四旋翼飞行器(QUAV), 四元数建模, 机动性, 双向推力, 轨迹规划

Abstract: The position and attitude control of Quadrotor Unmanned Aerial Vehicle (QUAV) determines its maneuverability. First, to overcome the mobility defect of the under-actuated system, the dynamic model of bi-directional-motor-driven QUAV based on quaternion is presented, including the analysis on omnidirectional movement process. The attitude and position controllers and QUAV's control allocation matrix are illustrated. Then, considering the vertical x-z plane model custom-built for the new QUAV, the optimal planning tool is used to propose the maneuvering flight trajectory generation method suitable for QUAV by setting reasonable parameters and restrictions. The trajectories are produced but not limited within flip, vertical roll and point-to-point. The thrust and torque outputs are optimal to achieve rapidity under the conditions above. Finally, a QUAV simulation environment with circuit, electronic speed controllers, motors, blades and frames is established. By evaluating the results of simulation, this paper demonstrates that compared with unidirectional-rotor-driven QUAV, the bi-directional-motor-driven one effectively improves the accuracy of attitude and position tracking and promotes maneuverability.

Key words: Quadrotor Unmanned Aerial Vehicle (QUAV), quaternion model, maneuverability, bi-directional thrust, trajectory planning

中图分类号:

徐力昊, 张宇, 许斌. 基于双向电机驱动的四旋翼机动飞行控制[J]. 北京航空航天大学学报, 2021, 47(2): 373-381.

XU Lihao, ZHANG Yu, XU Bin. Maneuvering flight control of QUAV based on bi-directional motor actuation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 373-381.

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基于双向电机驱动的四旋翼机动飞行控制

Maneuvering flight control of QUAV based on bi-directional motor actuation

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