小型四轴飞行器动力学参数测定方法设计

 针对四轴飞行器动力学模型参数测定的低成本与高精度难以兼顾的特点,力求设计一种成本较低,精度满足实际工程要求的参数测量装置。首先简化了飞行器旋翼转速与升力以及转速与反扭矩之间的关系,根据刚体力学原理,设计的测定装置实现了电机定子与测量平台的固性连接,将旋翼产生的升力和反扭矩分别以重力和力矩的形式表现出来。对测得数据进行拟合与分析,得到旋翼的升力系数和反扭矩系数,通过与相关数据比对,证明所测参数精度满足控制精度要求；而且整个参数测量过程简单,成本低,易于在工程中实现。

Determination of Quadrotor Dynamic Parameters

A novel quadrotor parameter tester instrument has been designed to solve the problem that it is difficult to take into account the low cost and high precision of the tester instrument at the same time. At first, the relation model between rotor rolling velocity and thrust has been simplified, so it is with rotor rolling velocity and drag moment. Then the rigid joint between the tester instrument and the motor stator has been realized based on the theory of geostatics. Then the thrust of rotor was presented with the form of gravity, and the drag moment of rotor was presented with the form of moment. At last, the thrust coefficient and the drag coefficient were obtained by fitting and analyzing the experimentation data. In comparison with related data, the experimentation data shows that the precision of parameters have met the requirement of control. Further more, the ways and means of parameter determination are simple, the parameter tester instrument is cheap, and the realization of parameter determination in engineering is relatively easy.