复杂风场环境对四旋翼无人机运动特性影响分析

Analysis of the Influence of Complex Environment on Motion Characteristics of Quadrotor UAV

摘要:

四旋翼无人机在未来越来越多的应用场合中,将面临复杂多样的飞行环境；将风切变、突风以及Dryden紊流风组合,建立四旋翼无人机所处的外界复杂风扰动模型,分别建立受空速影响的桨叶挥舞诱导阻力/力矩以及空气阻力/力矩模型,依据牛顿力学建立复杂环境下四旋翼无人机的动力学模型；通过数值仿真,分析了定点悬停和轨迹跟踪过程中,复杂环境对四旋翼无人机运动特性的影响；实验结果表明：在进行复杂环境四旋翼无人机的高精度控制系统设计时,应该综合考虑风切变、突风和紊流风所组成的复杂风场,且在动力学模型中应同时考虑桨叶挥舞和风阻因素；实验结果具有一定的工程实际意义。

Abstract:

In the future, quadrotor Unmanned Aerial Vehicle (UAV) will face complex and diverse flight environments in more and more applications; By combining wind shear, gust wind and Dryden turbulent wind, the external complex wind disturbance model of the quadrotor UAV is established; Respectively, the induced drag/torque of blade flapping and air resistance/moment models affected by airspeed were established; According to Newtonian mechanics, the dynamic model of the quadrotor UAV in complex environments was established; Through numerical simulation, the influence of complex environment on the motion characteristics of quadrotor UAV in the process of fixed-point hovering and trajectory tracking is analyzed; The experimental results show that complex wind field composed of wind shear, gust wind and turbulent wind should be considered comprehensively when designing the high-precision control system of quadrotor UAV in complex environment, and the factors of blade flapping and wind resistance should be considered simultaneously in the dynamics model. The experimental results have certain practical significance for engineering.