多旋翼无人机的力模型辨识与评价*

2020 IEEE International Conference on Robotics and Automation (ICRA) Pub Date : 2020-05-01 DOI:10.1109/ICRA40945.2020.9197317

Alexandre Letalenet, P. Morin

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引用次数: 3

摘要

提出了一种多旋翼无人机力模型辨识方法和评估方法。该模型结合了由动量和叶片单元理论推导的螺旋桨空气动力学，以及无人机结构和驱动动力学的空气动力学。提出了一种两步辨识模型参数的方法。通过飞行速度超过10m/s的室外实验对模型进行了辨识和评估。

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Identification and evaluation of a force model for multirotor UAVs*

This paper proposes a model identification method and evaluation of a force model for multirotor UAVs. The model incorporates propellers’ aerodynamics derived from momentum and blade element theories, as well as aerodynamics of the UAV’s structure and actuation dynamics. A two-steps identification approach of the model parameters is proposed. The model is identified and evaluated from outdoor experiments with flight speeds exceeding 10m/s.

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2020 IEEE International Conference on Robotics and Automation (ICRA)

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