共轴无人机桨盘振动影响姿态稳定的试验与研究  

Experiment and research on the influence of propeller disk vibration on attitude stability of a coaxial UAV

作　　者：冯子峻 郝永平[1,2] 有德义 杨丽圆 孙舒洋 仲天一 FENG Zijun;HAO Yongping;YOU Deyi;YANG Liyuan;SUN Shuyang;ZHONG Tianyi(Ordnance Science Research Center,Shenyang Polytechnic University,Shenyang 110159,China;School of Mechanical Engineering,Shenyang Polytechnic University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学兵器科学研究中心,沈阳110159 [2]沈阳理工大学机械工程学院,沈阳110159

出　　处：《振动与冲击》2025年第2期151-159,209,共10页Journal of Vibration and Shock

基　　金：辽宁省应用基础研究计划项目(2022JH2/101300254)。

摘　　要：针对共轴无人机在飞行过程中桨盘振动噪声对加速度计与陀螺仪的干扰,在其飞行过程中容易出现偏移、自旋等现象而导致失控甚至发生坠机。分析桨盘振动与外部扰动对姿态解算结果的影响,提出了一种由低通滤波与四元数平方根sigma无迹卡尔曼滤波组成的四元数混合滤波算法,可用于桨盘振动与姿态估计。搭建室内飞行器性能姿态控制平台与室外动态悬吊平台。通过静态与动态试验表明,相较于飞控中常用的扩展卡尔曼滤波,搭载混合滤波算法的无人机在高转速产生的振动噪声环境中对姿态误差发散的抑制程度良好,显著提高了共轴无人机姿态解算与飞行的稳定性。In view of the disturbance on the accelerometer and gyroscope caused by rotor disk vibration and noise during flight of a coaxial unmanned aerial vehicle,it is easy to induce deviation,spin and other phenomena on the unmanned aerial vehicle during flight,which may lead to loss of control and even crash.The influences of disk vibration and external disturbance on attitude calculation were analyzed,and a hybrid quaternion filtering algorithm composed of the low-pass filter and quaternion square root sigma untrace Kalman filter was proposed.An indoor aircraft performance attitude control platform and an outdoor dynamic suspension platform were built.The static and dynamic experiments show that compared with the extended Kalman filter commonly used in flight control,the unmanned aerial vehicle equipped with the hybrid filter algorithm has a better degree of suppression of attitude error divergence in the vibration and noise environment generated by high rotational speed,and the stability of the attitude calculation and flight of the coaxial unmanned aerial vehicle is significantly improved.

关 键 词：共轴无人机 桨盘振动 滤波 控制平台 姿态解算 稳定性 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] V279.2