可重构旋翼无人飞行器的动力学建模与分析

doi:10.3724/SP.J.1218.2013.00227

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引用本文:
阮晓钢, 侯旭阳, 龚道雄. 可重构旋翼无人飞行器的动力学建模与分析[J]. 机器人, 2013, 35(2): 227-238.DOI: 10.3724/SP.J.1218.2013.00227. RUAN Xiaogang, HOU Xuyang, GONG Daoxiong. Dynamics Modeling and Analysis of a Reconfigurable Rotorcraft Unmanned Aerial Vehicle. ROBOT, 2013, 35(2): 227-238. DOI: 10.3724/SP.J.1218.2013.00227.

摘要

提出了一种具有可重构能力的旋翼无人飞行器（RUAV），其执行机构主要由内置在涵道中的主旋翼、环绕主旋翼的4个辅旋翼以及涵道末端的2个副翼组成，其中辅旋翼与主旋翼、副翼的部分功能重合以使系统具备重构控制能力．运用牛顿-欧拉方法建立了旋翼无人飞行器的6自由度（6DOF）动力学模型．基于此模型，首先分析了在悬停状态附近系统发生不同故障时的可控性，然后基于控制可重构度的概念分析了在发生不同程度故障时系统的容错能力，在此基础上构建了飞行器的多模型重构控制器，最后通过仿真实验分别对系统的动态响应特性和重构控制效果进行了分析．结果显示，旋翼无人飞行器具有较好的动态响应特性，且对一定范围内的故障具有较好的鲁棒性．本文提出的模型及相关分析为旋翼无人飞行器的容错设计和控制提供了一定的理论依据．

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	阮晓钢
	侯旭阳
	龚道雄

关键词 ：旋翼无人飞行器, 建模, 可控性, 多模型, 可重构控制

Abstract：

A kind of reconfigurable rotorcraft unmanned aerial vehicle (RUAV) is presented. Its actuators consist of the major rotor inside the duct, four auxiliary rotors surrounding the major rotor and two ailerons at the end of the duct, and the auxiliary rotors have some similar functions as that of the major rotor and ailerons in order to achieve reconfigurable control of the system. The Newton-Euler method is adopted to build 6-DOF (degree of freedom) dynamic model of the RUAV. Based on the model, the controllability of the system in different fault cases is analyzed near the hover state. Then, the fault-tolerance performance of the system with different fault degrees is analyzed based on the notation of control reconfigurability, and the analysis helps to build the multi-model reconfigurable controller. At last, the dynamic response characteristics and reconfigurable control performance of the system are analyzed by simulation, respectively. The result shows that the RUAV has good dynamic response characteristics and robustness to some kinds of failures. The proposed model and related analysis provide some theoretical basis for the fault-tolerant design and control of the RUAV.

Key words： rotorcraft unmanned aerial vehicle modeling controllability multi-model reconfigurable control

收稿日期: 2012-03-28 录用日期: 2012-11-07

TP391

基金资助:

国家自然科学基金资助项目（61075110）；国家863计划资助项目（2007AA04Z226）；北京市教委重点项目（KZ201210005001）

通讯作者: 侯旭阳，hopor123@126.com E-mail: hopor123@126.com

作者简介: 阮晓钢（1958-），男，博士，教授，博士生导师．研究领域：模式识别，人工智能，机器人控制技术．
侯旭阳（1986-），男，博士生．研究领域：机器人，人工智能，飞行器控制
龚道雄（1968-），男，博士，副教授．研究领域：进化计算，机器人．

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2013.00227 或 https://robot.sia.cn/CN/Y2013/V35/I2/227

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