新型矢量推力八旋翼飞行器的设计与控制  

Design and control of novel vector thrust octocopter

作　　者：杨晓燕[1] 黄宇森 王衍凤 刘英璇 YANG Xiaoyan;HUANG Yusen;WANG Yanfeng;LIU Yingxuan(School of Mechanical and Electrical Engineering,Weifang Vocational College,Weifang 262737,China;School of Mechanical and Electrical Engineering,University of Electronic Science and Technology,Chengdu 611731,China)

机构地区：[1]潍坊职业学院机电工程学院,山东潍坊262737 [2]电子科技大学机械与电气工程学院,四川成都611731

出　　处：《传感器与微系统》2024年第11期68-72,共5页Transducer and Microsystem Technologies

基　　金：中国电子劳动学会“产教融合、校企合作”教育改革发展课题项目(Cie12021077)。

摘　　要：飞行器在物理交互场景中应用广泛,但现有的飞行器及装置在面对大矢量推力应用时,往往难以满足结构和控制简单的要求。为解决这一问题,设计了一种结构简单可行的矢量推力八旋翼飞行器,利用倾斜共轴转子和铰链—同步带的结构,只需一个额外的执行器,即可控制所有转子的倾转角度,从而实现矢量推力,可在物理交互场景中提供足够的横向推力。基于此,设计了对应的位姿控制器,采用SO(3)上的几何控制方法设计了全局稳定的位姿控制器,使用非线性扰动观测器对外部力和力矩进行估计并补偿,以提高整个控制系统的鲁棒性。在MATLAB/Simscape中,进行了飞行器的5D轨迹跟踪、倾转悬停和扰动估计的仿真实验,实验结果充分验证了该飞行器设计的可行性和相应控制算法的有效性。Aircrafts are widely used in physical interaction scenarios,but existing aircraft and devices often struggle to meet the requirements of simple structure and control when dealing with large vector thrust applications.To address this issue,a structurally simple and feasible vector thrust octocopter is presented.By using tilted coaxial rotors and a hinge⁃synchronous belt structure,only one additional actuator is required to control the tilt angle of all rotors,achieving vector thrust and providing sufficient lateral thrust in physical interaction scenarios.Based on this,a corresponding pose controller is designed.A globally stable pose controller is designed using geometric control methods on SO(3),a nonlinear disturbance observer is employed to estimate and compensate for external forces and torques,enhancing the robustness of the entire control system.Simulations for 5D trajectory tracking,tilt hovering,and disturbance estimation of the aircraft are conducted in MATLAB/Simscape.The experimental results fully validate the feasibility of the aircraft design and the effectiveness of the corresponding control algorithms.

关 键 词：矢量推力 非线性扰动观测器 PID控制器 几何控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]