可倾转四旋翼飞行器定点悬停仿真研究  

Simulation Research on Fixed-point Hovering of Tiltable Quadrotor

作　　者：冯辰宇 马瑞 Feng Chenyu;Ma Rui

机构地区：[1]江苏理工学院机械工程学院,江苏常州213001

出　　处：《装备机械》2025年第1期39-44,共6页The Magazine on Equipment Machinery

基　　金：江苏省高等学校基础科学研究项目(编号:22KJB460020);江苏省研究生实践创新计划项目(编号:SJCX22_1478)。

摘　　要：对可倾转四旋翼飞行器定点悬停进行仿真研究,通过增加可倾转机构带动旋翼倾转,使旋翼产生的推力不再单一垂直于机体,进而实现四旋翼飞行器全自由度飞行和位置、姿态同步控制,同时克服传统四旋翼飞行器采用欠驱动系统难以实现位姿同步控制的问题。利用动力学模型对静态分配矩阵进行线性化处理,设计比例积分微分控制器。在SolidWorks软件中搭建可倾转四旋翼飞行器三维模型,导入CoppeliaSim软件,并结合Matlab/Simulink软件,完成可倾转四旋翼飞行器控制系统的可视化仿真试验。结果表明,可倾转四旋翼飞行器可以在2 s内完成定点悬停,由此验证控制系统的可行性。The simulation research was conducted on the fixed-point hovering of the tiltable quadrotor.By adding the tiltable mechanism to drive the rotor to tilt,the thrust generated by the rotor is no longer solely perpendicular to the body,thereby achieving full degree of freedom flight and position and attitude synchronization control of the quadrotor.At the same time,the problem that it is difficult to achieve position and attitude synchronization control of the traditional quadrotor by using underactuated system was overcome.The static allocation matrix was linearized by using the dynamic model,and the PID controller was designed.The 3D model of the tiltable quadrotor was built in SolidWorks software,and was imported to CoppeliaSim software to complete the visual simulation experiment of the control system of the tiltable quadrotor by combining Matlab/Simulink software.The result indicates that the tiltable quadrotor can complete the fixed-point hovering within 2 s,thus verifying the feasibility of the control system.

关 键 词：四旋翼飞行器 悬停 仿真 研究 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]