Rotor-force controller for multirotors under aerodynamic interferences

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology Pub Date : 2024-12-11 DOI:10.1016/j.ast.2024.109861

Antonio Gonzalez-Morgado, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero

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引用次数: 0

Abstract

The use of multirotors for inspection tasks requires the ability to perform high-precision flights close to the environment, where aerodynamic effects appear and make control of the platform difficult. This paper presents a control solution for multirotors to deal with aerodynamic effects and other disturbances produced at a motor level. It combines the inclusion of a mechatronic system embedded in the multirotor power plant and a new control architecture focused on enabling a Rotor-Force Controller (RFC) at a motor level. Unlike model-based solutions developed in recent years, our solution can be used with any type of motor perturbation, such as ground and ceiling aerodynamic effects, wind effects, battery discharge and rotor damage effects. The implementation of both parts, the mechatronics system and the Rotor-Force Controller, are presented in this paper and experimentally validated in a custom testbench. The experiment shows that the proposed Rotor-Force Controller reduces the impact of aerodynamic effects on platform attitude approximately 80% compared with the results without the Rotor-Force Controller.

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气动干扰条件下多旋翼飞行器的旋翼力控制器

使用多旋翼飞行器执行检测任务需要能够在接近环境的地方进行高精度飞行，而在这种环境中，空气动力效应会出现，使平台的控制变得困难。本文提出了一种多旋翼飞行器控制解决方案，用于处理空气动力效应和电机层面产生的其他干扰。该方案将嵌入多旋翼飞行器动力装置的机电一体化系统与新的控制架构相结合，重点是在电机层面启用旋翼力控制器（RFC）。与近年来开发的基于模型的解决方案不同，我们的解决方案可用于任何类型的电机扰动，如地面和天花板空气动力效应、风力效应、电池放电和转子损坏效应。本文介绍了机电一体化系统和转子力控制器两部分的实现，并在定制测试平台上进行了实验验证。实验表明，与不使用旋转力控制器的结果相比，所提出的旋转力控制器可将空气动力效应对平台姿态的影响降低约 80%。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.