复杂风场环境对四旋翼无人机运动特性影响分析  

Analysis of Motion Characteristics of Quadrotor UAVs in Complex Wind Field Environments

作　　者：高宏建 汪阳生 陈霖周廷 胡建兴 王文举 GAO Hongjian;WANG Yangsheng;CHEN Linzhouting;HU Jianxing;WANG Wenju(School of Aerospace Engineering,Guizhou Institute of Technology,Guiyang 550003,China;Guizhou UAV Emergency Disaster Reduction Information Engineering Research Center,Guiyang 550003,China;Aviation Industry Corporation of China Guizhou Aircraft Company Limited,Anshun 561000,China)

机构地区：[1]贵州理工学院航空航天工程学院,贵阳550003 [2]贵州省无人机应急减灾信息化工程研究中心,贵阳550003 [3]中航贵州飞机有限责任公司,贵州安顺561000

出　　处：《计算机测量与控制》2025年第2期192-202,211,共12页Computer Measurement &Control

基　　金：贵州省基金基础研究计划(自然科学)项目(黔科合基础-ZK[2022]一般172、一般182);贵州省教育厅普通本科高校青年科技人才成长项目(黔教合KY字[2022]350号);贵州省普通高等学校工程研究中心项目(黔教合KY字[2018]007);贵州理工学院高层次人才引进科研启动项目(XJGC20190610)。

摘　　要：四旋翼无人机在未来越来越多的应用场合中,将面临复杂多样的飞行环境;将风切变、突风以及Dryden紊流风组合,建立四旋翼无人机所处的外界复杂风扰动模型,分别建立受空速影响的桨叶挥舞诱导阻力/力矩以及空气阻力/力矩模型,依据牛顿力学建立复杂环境下四旋翼无人机的动力学模型;通过数值仿真,分析了定点悬停和轨迹跟踪过程中,复杂风场环境对四旋翼无人机运动特性的影响;仿真结果表明:在进行复杂环境四旋翼无人机的高精度控制系统设计时,应该综合考虑风切变、突风和紊流风所组成的复杂风场,且在动力学模型中应同时考虑桨叶挥舞和风阻因素;研究结果具有一定的工程实际意义。Quadrotor unmanned aerial vehicles(UAVs)will face complex and diverse flight environments in future applications;By combining wind shear,gust wind and Dryden turbulent wind,this paper establishes an external complex wind disturbance model for a quadrotor UAV,an induced drag/torque model of blade flapping,and an air resistance/moment model affected by airspeed,respectively.According to Newtonian mechanics,the dynamic model of the quadrotor UAV in complex environments is built;Through numerical simulation,the influence of complex wind environments on the motion characteristics of the quadrotor UAV in the process of fixed-point hovering and trajectory tracking is analyzed;Simulation results show that in complex wind field environments,the high-precision control system design of quadrotor UAVs should comprehensively consider the complex wind fields of wind shear,gust wind and turbulent wind,while also taking into account the factors of blade flapping and wind resistance in dynamics models.The research results have certain practical significance for engineering.

关 键 词：复杂风场环境 四旋翼无人机 桨叶挥舞 风阻 运动特性 

分 类 号：TP271.61[自动化与计算机技术—检测技术与自动化装置]