一种多旋翼飞行器的设计及实验验证

doi:10.13973/j.cnki.robot.190190

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李斌斌, 马磊, 孙小通, 孙永奎, 张凯. 一种多旋翼飞行器的设计及实验验证[J]. 机器人, 2020, 42(3): 257-266.DOI: 10.13973/j.cnki.robot.190190. LI Binbin, MA Lei, SUN Xiaotong, SUN Yongkui, ZHANG Kai. Design and Experimental Verification of a Multirotor Aircraft. ROBOT, 2020, 42(3): 257-266. DOI: 10.13973/j.cnki.robot.190190.

摘要传统多旋翼机具有欠驱动特性，且平移、旋转运动均存在强耦合，极大地限制了飞行器的机动性能．为此本文设计了一种具备全向运动、推力矢量控制飞行、倾转悬停功能的多旋翼飞行器．该飞行器结构为正四面体，4个倾转旋翼模组分别固定于该四面体的4个顶点．每个倾转旋翼模组能够提供矢量推力，从结构上实现了飞行器姿态控制和位置控制的解耦，使得飞行器能够实现3维空间中全姿态的轨迹跟踪．为避免欧拉角控制产生的奇异性，设计了基于四元数的姿态控制器．利用可控性原理分析了旋翼发生故障时飞行器的可控性，证明了相比传统飞行器它具有更高的容错性．样机实验测试了该飞行器的大角度复杂机动动作以及推力矢量控制飞行能力，可实现最大70°的倾转悬停．实验结果表明，该飞行器相比于传统的四旋翼飞行器具备更高的机动性．

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	李斌斌
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关键词 ：多旋翼飞行器, 全向运动, 矢量飞行, 倾转悬停, 解耦控制

Abstract：Conventional multirotor aircrafts are underactuated, while the translational and rotational motions are strongly coupled. These features severely limit the maneuverability of the aircraft. Therefore, a multi-rotor aircraft is designed, which can perform omnidirectional motion, vector thrust control flight and tilt-hovering. A regular tetrahedron structure is adopted, and four tilting rotor modules are mounted at the four vertices of the tetrahedron. Each tilting rotor module can provide the vector thrust, so the attitude control and the position control of the aircraft are decoupled owing to the structure, and the aircraft is thus capable of the all-attitude trace tracking in 3D space. In addition, an attitude controller based on quaternion is designed in order to avoid the singularity caused by Euler angle control. The controllability principle is used to analyze the controllability of the aircraft when a rotor malfunctions, and the aircraft demonstrates a higher fault tolerance than the conventional ones. In the prototype experiment, the aircraft's large-angle complex maneuver and the vector thrust control flight capability are tested, and the maximum tilting angle in tilt-hovering is 70°. The experimental results show that the aircraft has a higher maneuverability than the conventional quadrotors.

Key words： multirotor aircraft omnidirectional movement vector-flying tilt-hovering decoupled control

收稿日期: 2019-04-17 录用日期: 2019-11-05

TP242

基金资助:国家自然科学基金（U1730105）

通讯作者: 孙永奎,yksun@swjtu.edu.cn E-mail: yksun@swjtu.edu.cn

作者简介: 李斌斌(1993-),男,博士生.研究领域:空中飞行机器人设计与控制.
马磊(1972-),男,教授,博士生导师.研究领域:控制理论及其在机器人、新能源和轨道交通系统中的应用.
孙小通(1993-),男,硕士生.研究领域:控制理论及其在机器人领域的应用.

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https://robot.sia.cn/CN/10.13973/j.cnki.robot.190190 或 https://robot.sia.cn/CN/Y2020/V42/I3/257

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