仿蜂鸟倾斜悬停的四旋翼系统设计  

Design of quadrotor system by imitating hummingbird’s tilt hovering

作　　者：任桂林 肖长诗[1] 元海文 REN Guilin;XIAO Changshi;YUAN Haiwen(College of Navigation,Wuhan University of Technology,Wuhan 430063,China;School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China)

机构地区：[1]武汉理工大学航运学院,湖北武汉430063 [2]武汉工程大学电气信息学院,湖北武汉430205

出　　处：《传感器与微系统》2024年第11期78-80,85,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(U2141234,52001235);中国博士后科学基金资助项目(2020M682504)。

摘　　要：为了提高常规四旋翼的灵活性,模仿蜂鸟在空中倾斜身体悬停的特点,对一种改进后的轴可动四旋翼进行系统设计与验证。首先,在四旋翼的每个机臂上增加由舵机驱动的倾转装置,使得旋翼可以灵活地改变朝向,建立平台的六自由度模型;接着结合视觉传感器测量飞行平台的位姿,基于串级PID控制和线性的控制分配方法,基于嵌入式平台进行实物实验。结果表明,飞行器实现了静止在空中某一位置倾斜姿态,具有更高的灵活性。In order to improve the flexibility of conventional quadrotor,by imitating the hummingbird’s tilt hovering in the air,design and verification of an improved axis⁃rotatable quadrotor system are carried out.Firstly,starting from the structure,a tilt device driven by servo motors are added on each arm of the quadrotor,so that the rotor can flexibly change orientation,and a 6⁃degree of freedom(DOF)model of platform is established.Then,combined with visual sensor,measure the pose of flight platform,based on the cascade PID control and linear control allocation method,a physical experiment is conducted on embedded platform.The results show that the aircraft achieves a static tilt attitude at a certain position in the air,with higher flexibility.

关 键 词：轴可动四旋翼 倾转装置 视觉传感器 串级PID控制 倾斜姿态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]