变桨距多旋翼无人机研究进展  

Recent advances on variable⁃pitch multi⁃rotor UAVs

作　　者：赵勃 徐丰羽 岳东 蒋国平 ZHAO Bo;XU Fengyu;YUE Dong;JIANG Guoping(College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化学院、人工智能学院,江苏南京210023

出　　处：《南京邮电大学学报（自然科学版）》2021年第4期91-98,共8页Journal of Nanjing University of Posts and Telecommunications：Natural Science Edition

基　　金：国家自然科学基金青年科学基金(61803210)资助项目。

摘　　要：目前广泛应用的多旋翼无人机均采用螺距角不可变的固定桨距旋翼,此种旋翼结构虽降低了机身复杂度,却限制了动力机构的控制品质和能量效率,且牺牲了动力失效下挽救坠机的能力,而引入变桨距结构则可以很好地解决上述问题。文中总结阐述了变桨距多旋翼无人机的原理、特点、应用场景及研究进展,并提出了其关键技术问题及发展趋势。其研究内容为旋翼式无人机研究领域中的基础和关键技术,对促进多旋翼无人机及其他构型的无人机自主飞行控制研究有较好的推动作用。The rotors on nowadays multi⁃rotor UAVs are all set with fixed⁃pitch propellers,of which the pitch angle cannot be adjusted.Such fixed⁃pitch propellers make the UAV mechanically simple,but disable the ability of saving the aircraft under engine failures.Moreover,the control quality and the energy efficiency are also lowered.Introducing variable⁃pitch propellers into multi⁃rotor UAVs can solve the problems above.This paper summarizes the principle,characteristics,application scenarios,and research progress of variable⁃pitch multi⁃rotor UAVs.The key techlonogy problems and trends of the research are proposed in the field of rotorcraft UAVs.It can improve the system stability and the control effect,thus actively promoting the development of the multi⁃rotor UAVs and UAVs with other constructs.

关 键 词：变桨距 多旋翼无人机 自主控制系统 自转着陆控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP249[自动化与计算机技术—控制科学与工程]