基于双向电机驱动的四旋翼机动飞行控制

徐力昊; 张宇; 许斌

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

doi: 10.13700/j.bh.1001-5965.2020.0221

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

基金项目:

国家自然科学基金 61673341

国家自然科学基金 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

详细信息

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

通讯作者:
张宇. E-mail: zhangyu80@zju.edu.cn

中图分类号: V221⁺.3;TB553
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- 被引次数: 0
出版历程
- 收稿日期: 2020-05-27
- 录用日期: 2020-06-19
- 网络出版日期: 2021-02-20

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

XU Lihao¹,
ZHANG Yu^{1
, ,},
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

Funds:

National Natural Science Foundation of China 61673341

National Natural Science Foundation of China 61933010

Project of State Key Laboratory of Industrial Control Technology, China ICT1913

Open Research Project of State Key Laboratory of Industrial Control Technology, China ICT20037

Aeronautical Science Foundation of China 20180753007

More Information

Corresponding author: ZHANG Yu. E-mail: zhangyu80@zju.edu.cn

摘要

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。
- 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.
- Quadrotor Unmanned Aerial Vehicle (QUAV) /
- quaternion model /
- maneuverability /
- bi-directional thrust /
- trajectory planning

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图 1 机体坐标系重心到电机中心的坐标变换

Figure 1. Coordinate transformation from the center of gravity axis to the center of motor axis

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图 2 稳定姿态的推力

Figure 2. Thrust graph under stable attitude

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图 3 滚转的推力

Figure 3. Thrust graph of roll

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图 4 偏航的推力

Figure 4. Thrust graph of yaw

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图 5 x-z平面四旋翼模型

Figure 5. Model of x-z plane quadrotor

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图 6 点到点的θ、u₁、u₂及飞行轨迹

Figure 6. Trajectory graph of point-to-point with θ, u₁, u₂

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图 7 点到竖直悬停的θ、u₁、u₂及飞行轨迹

Figure 7. Trajectory graph of point-vertical hover with θ, u₁, u₂

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图 8 翻转的θ、u₁、u₂及飞行轨迹

Figure 8. Trajectory graph of flip with θ, u₁, u₂

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图 9 姿态角跟踪结果

Figure 9. Attitude angle tracking results

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图 10 高度跟踪结果

Figure 10. Height tracking results

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图 11 螺旋曲线轨迹跟踪结果

Figure 11. Tracking results of spiral curve

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表 1 系统参数与状态、输入限制

Table 1. System parameters, status and input limits

系统参数	状态限制	输入限制
m=0.5 kg J=3×10^-3 kg·m² g=9.81 m/s²		T=12 N T=1 N τ=0.2 N·m τ=-0.2 N·m

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表 2 三个典型机动设计

Table 2. Design of three typical maneuvers

机动	中间条件	结束条件
点到点	无	p_f=[x_g z_g 0]^T ṗ_f=[0 0 0]^T
点到竖直悬停	无	ṗ_f=[0 0 0]^T
翻转		p_f=[x_g 0 π]^T ṗ_f=[0 0 0]^T

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表 3 两种模型与目标螺旋曲线轨迹之间误差的方差

Table 3. Variance of errors between two models and target spiral trajectory

三轴目标轨迹函数	单向驱动	双向驱动
x(t)=2sin(0.1t)	0.153 8	0.100 9
y(t)=-2cos(0.1t)	0.062 0	0.014 8
z(t)=0.1t	0.009 0	0.007 4

下载: 导出CSV

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