Dynamic modeling, simulation, and parameter study of electric quadrotor system of Quad-Plane UAV in wind disturbance environment

IF 1.5 4区工程技术 Q2 ENGINEERING, AEROSPACE

International Journal of Micro Air Vehicles Pub Date : 2021-01-01 DOI:10.1177/17568293211022211

Fan Li, Wenqian Song, Binhe Song, Hang Zhang

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引用次数: 4

Abstract

Quad-Plane UAV(quadrotor fixed-wing hybrid vertical take-off and landing Unmanned Aerial Vehicle) is vulnerable to wind disturbance in quadrotor mode, and the performance of the electric quadrotor system directly affects its wind disturbance rejection performance. To study and optimize the wind disturbance rejection performance of the electric quadrotor system of Quad-Plane precisely and efficiently, a dynamic electric quadrotor simulation system integrating high-precision submodels of electric quadrotor system components is required. However, there are few papers on this kind of simulation system. This paper proposed a simulation system with both high computational efficiency and precision, and it can be used in optimization and flight simulation of Quad-Plane. The simulation system includes submodels of rotor, brushless direct current (BLDC) motor, electronic speed controller (ESC), and Li-ion Polymer battery. The surrogate-based rotor model is established to calculate the aerodynamic performance of the rotor in oblique flow. The BLDC motor performance calculation model considering inductance is presented and the power loss of the ESC is considered. The discharge characteristics of the battery are modeled considering the rate capacity effect. All submodels are validated and the simulation results show good agreements with test data. A flight test of Quad-Plane in quadrotor mode is conducted to validate the integrated dynamic simulation system. The results show that the simulation system has the advantages of high computational efficiency and precision. Based on the simulation system, the influence of the electric quadrotor system parameters on the performance of the electric quadrotor system, and furthermore on the wind disturbance rejection performance of the Quad-Plane are found, the conclusions are helpful to the selection and optimization of the electric quadrotor system components.

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风扰环境下四平面无人机电动四旋翼系统的动力学建模、仿真及参数研究

四旋翼固定翼混合垂直起降无人机在四旋翼模式下易受风扰，电动四旋翼系统的性能直接影响其抗风扰性能。为了准确有效地研究和优化四平面电动四旋翼系统的抗风扰性能，需要一个集成电动四旋翼组件高精度子模型的动态电动四旋翼仿真系统。然而，关于这种模拟系统的论文很少。本文提出了一种计算效率和精度都很高的仿真系统，该系统可用于四边形飞机的优化和飞行仿真。仿真系统包括转子、无刷直流电机、电子调速器和锂离子聚合物电池等子模块。建立了基于代理的旋翼模型，对旋翼在斜流中的气动性能进行了计算。提出了考虑电感的无刷直流电机性能计算模型，并考虑了ESC的功率损耗。考虑速率容量效应，对电池的放电特性进行了建模。对所有子模型进行了验证，仿真结果与试验数据吻合良好。为了验证该综合动力仿真系统的有效性，进行了四旋翼模式下的四平面飞行试验。结果表明，该仿真系统具有计算效率高、精度高等优点。在仿真系统的基础上，研究了电动四旋翼系统参数对电动四旋翼机系统性能的影响，进而对四平面的风扰抑制性能的影响。

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

International Journal of Micro Air Vehicles ENGINEERING, AEROSPACE-

CiteScore

3.00

自引率

7.10%

发文量

审稿时长

>12 weeks

期刊介绍： The role of the International Journal of Micro Air Vehicles is to provide the scientific and engineering community with a peer-reviewed open access journal dedicated to publishing high-quality technical articles summarizing both fundamental and applied research in the area of micro air vehicles.