个人空中系统的设计、建模和控制

IF 5.2 2区 计算机科学 Q2 ROBOTICS
Chen Lei, Dong Wei, Lv Yiqun, Gao Yongzhuo, Wu Dongmei, Dong Hui
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引用次数: 0

摘要

具有垂直起降(VTOL)能力的微型个人飞行器(pav)在救援任务中比传统飞行器具有显着优势,特别是在紧凑性,载人飞行能力和承载能力方面。然而,关于这类系统的详细研究工作很少有报道。本文介绍了一种重量为55公斤,尺寸为45 * 87 * 154厘米的微型垂直起降PAV。PAV配备了五个垂直排列的微型涡轮喷气发动机,可实现垂直起降能力,并支持超过100公斤的负载能力。附在发动机上的两个自由度矢量喷管机构允许精确的推力方向调整。基于该推进系统和PAV的物理模型,设计了串级比例-积分-导数(PID)控制器来调节PAV的位置和姿态。此外,采用基于前馈的比例导数(PD)控制器来提高发动机的推力响应。PAV原型车在各种室外条件下进行了严格的测试,温度范围为- 7°C至42°C,风速为0至7.2 m/s。实验结果表明,飞行速度达到14.65 m/s,飞行时间超过5 min。这些结果证实了所提出的PAV设计原则的可行性,证明了其对不同环境条件的适应性。虽然本文主要关注的是微型PAV系统,但其研究结果有助于更广泛的先进空中机动研究领域。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Design, Modeling, and Control of a Personal Aerial System

Design, Modeling, and Control of a Personal Aerial System

Miniature personal aerial vehicles (PAVs) with vertical take-off and landing (VTOL) capabilities offer significant advantages over conventional vehicles in rescue missions, particularly in terms of compactness, manned flight capability, and load-carrying capacity. However, detailed research work on such systems has been reported infrequently. This paper introduces a miniature VTOL PAV, weighing 55 kg and measuring 45 * 87 * 154 cm. The PAV is equipped with five vertically arranged micro-turbojet engines that enable VTOL capabilities and support a load capacity exceeding 100 kg. A two-degree-of-freedom vector nozzle mechanism attached to the engines allows precise thrust direction adjustments. Based on this propulsion system and the PAV's physical model, a cascade proportional-integral-derivative (PID) controller is developed to regulate PAV's position and attitude. Additionally, a feed-forward-based proportional-derivative (PD) controller is implemented to enhance the engine's thrust response. The PAV prototype underwent rigorous testing in various outdoor conditions, ranging from temperatures of −7°C to 42°C and wind speeds of 0 to 7.2 m/s. Experimental results show that the flight speed reached 14.65 m/s, with a flight duration exceeding 5 min. These results confirm the feasibility of the proposed PAV's design principles, demonstrating its adaptability to varying environmental conditions. While the primary focus of this paper is on the miniature PAV system, its findings contribute to the broader field of advanced air mobility research.

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来源期刊
Journal of Field Robotics
Journal of Field Robotics 工程技术-机器人学
CiteScore
15.00
自引率
3.60%
发文量
80
审稿时长
6 months
期刊介绍: The Journal of Field Robotics seeks to promote scholarly publications dealing with the fundamentals of robotics in unstructured and dynamic environments. The Journal focuses on experimental robotics and encourages publication of work that has both theoretical and practical significance.
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