四旋翼长续航飞行模式的设计与实现

Design and Implementation of Quad Rotor Long-endurance Flight Mode

摘要:

更长的飞行时间是四旋翼无人机领域研究热点方向之一。在对实际飞行中瞬时消耗电流和电池电压数据的研究中发现，过大姿态角下电池电量消耗显著提升。为了延长飞行时间和提升电池电量使用效率，提出一种长续航飞行模式。在该模式下，基于现有的角速度串级PID姿态控制器，将飞行加速度的控制算法改为飞行速度控制，限制过大姿态角的操作。在无风、微风和强风环境下的飞行实验表明，长续航飞行模式比传统飞行方式飞行时间增加8%~20%。长续航飞行模式可广泛应用于多种无需快速变换飞行路径但需要更长飞行时间的的应用场景中。

Abstract:

Longer flight time is one of the hot research areas in the field of quadrotor UAVs. The study of transient current consumption and battery voltage during actual flight showed that battery power consumption is significantly higher at large tilt angle. In order to extend the flight time and improve the efficiency of battery power usage, a long battery life mode is proposed. Based on the existing angular velocity cascade PID controller, the acceleration-controlled algorithm is changed to velocity-controlled algorithms, and excessive tilt angle requested by the drone pilot is ignored. Flight experiments in windless, breeze and strong wind conditions have shown that the long battery life mode increases the flight time by 8% to 20% compared with the traditional mode. The proposed mode can be used in a variety of application scenarios where a longer flight time is required without a quick change of flight path.