基于李雅普诺夫指数的四旋翼无人飞行器结构参数优化稳定性分析  

STRUCTURAL PARAMETERS OPTIMIZATION AND STABILITY ANALYSIS OF THE QUARDROTOR UNMANNED AERIAL VEHICLES BASED ON LYAPUNOV EXPONENTS

作　　者：陈城 符伟杰 刘娜[1,2] 毛春雷 韩继伟 Chen Cheng;Fu Weijie;Liu Na;Mao Chunlei;Han Jiwei(Nanjing Hydraulic Research Institute,Nanjing 210029,China;Nanjing Automation Institute of Water Conservancy and Hydrology,Nanjing 210012,China;Hydrology and Water Resources Engineering Research Center for Monitoring,Nanjing 210012,China)

机构地区：[1]水利部交通运输部国家能源局南京水利科学研究院,南京210029 [2]水利部南京水利水文自动化研究所,南京210012 [3]水利部水文水资源监控工程技术研究中心,南京210012

出　　处：《动力学与控制学报》2019年第6期497-507,共11页Journal of Dynamics and Control

基　　金：中央级公益性科研院所基本科研业务费专项资金青年项目(Y919008)~~

摘　　要：为了提高四旋翼无人飞行器的运动稳定性,通过改变机械结构参数,研究了变结构参数对系统稳定性的影响.本文以四旋翼无人飞行器的偏航阶段为对象,根据基于动力学模型的李雅普诺夫指数计算过程,得到了影响系统稳定性的主要机械结构参数,并采用李雅普诺夫指数法建立其主要机械结构参数与系统运动稳定性之间的量化关系,以期指导系统的机械结构设计及控制系统优化,提高系统的可靠性和稳定性,最后,通过实验验证理论仿真分析过程中的结论.该方法与李雅普诺夫的第二法相比,其主要优势是计算指数方法的可构建性,并可以使复杂非线性系统的稳定性分析成为可能.In order to improve the kinetic stability of quadrotor unmanned aerial vehicles,the effect of mechanical and structural parameters on the system stability was studied.The process during yawing state is taken as an example for investigation.According to the calculation process of Lyapunov exponents based on the dynamical model,the key mechanical and structural parameters significantly influencing the dynamic stability were obtained.The method of Lyapunov exponents was adopted to establish the relationship between such key parameters and the motion stability,which was utilized to design the mechanical and structural parameters,and then to optimize the stability control system.Finally,the theoretical analysis was validated through experimental tests.Compared with the Lyapunov′s second method,the main advantage of this method is that it is easy to construct the process of calculating exponent,which makes the stability analysis for complicated nonlinear systems possible.

关 键 词：四旋翼无人飞行器 机械结构参数 运动稳定性 李雅普诺夫指数 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]