基于动力系统模型的四旋翼推力估计方法  

Thrust Estimation of Quadrotor Based on Propulsion System Model

作　　者：杨盛毅[1,2] 唐胜景[1] 刘超[1] 李彦辉[1] 

机构地区：[1]北京理工大学宇航学院飞行器动力学与控制教育部重点实验室,北京100081 [2]贵州民族大学贵州省模式识别与智能系统重点实验室,贵州贵阳550025

出　　处：《北京理工大学学报》2016年第6期558-562,共5页Transactions of Beijing Institute of Technology

基　　金：国家自然科学基金资助项目(11202024);贵州省科学技术基金资助项目(黔科合J字LKM[2012]09号);贵州民族大学引进人才科研基金资助项目(15XRY007)

摘　　要：为解决四旋翼飞行器的精确控制需要使用动力系统推力,而该飞行器推力不可直接测量的问题,提出了一种悬停状态下的四旋翼推力估计方法.对四旋翼动力系统建模,并建立了悬停状态下用于推力估计的线性系统,以动力系统输入控制值和四旋翼姿态及高度输出测量值作为新系统输入,使用状态观测器对四旋翼推力进行估计.结果表明,基于动力系统模型的四旋翼推力估计方法可有效估计悬停状态下四旋翼动力系统所产生的推力.Because the precise control of quadrotor requires the thrust produced by propulsion system, and the thrust is hard to be measured directly on quadrotor. A hovering thrust estimation method was proposed for the quadrotor to solve the problem. Modeling a propulsion system of quadrotor, a linear system was established for thrust estimation in hovering state, and the input of propulsion system, attitude and altitude measurement of quadrotor were taken as the input of the new linear system, and thrust of quadrotor was estimated by using state observer. The results show that, this thrust estimation method based on propulsion system model can effectively estimate the thrust generated by quadrotor propulsion system in hovering.

关 键 词：动力系统模型 四旋翼 推力估计 

分 类 号：V249[航空宇航科学与技术—飞行器设计]