| 倾转四旋翼自主降落的设计与仿真 |
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| 引用本文： | 修素朴,文元桥,肖长诗,元海文,詹文强.倾转四旋翼自主降落的设计与仿真[J].系统仿真学报,2020,32(9):1676-1685. |
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| 作者姓名： | 修素朴 文元桥 肖长诗 元海文 詹文强 |
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| 作者单位： | 1.武汉理工大学航运学院,湖北 武汉 430063; 2.武汉理工大学智能交通系统研究中心,湖北 武汉 430063; 3.国家水运安全工程技术研究中心,湖北 武汉 430063; 4.内河航运技术湖北省重点实验室,湖北 武汉 430063; 5.武汉工程大学电气信息学院,湖北 武汉 430205 |
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| 基金项目： | 国家自然科学基金(51579204),国家重点研发计划(2018YFC1407405) |
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| 摘 要： | 针对四旋翼飞行器欠驱动性,提出一种用于自主降落的倾转四旋翼模型。该模型通过使用四个舵机对电机方向的控制来对位置（y）和姿态（roll）进行解耦,可实现倾斜悬停与倾斜飞行,增大了无人机的灵活性,提高了对无人机的位置和姿态的精确控制,使得跟踪和降落效果得到了提高。选取5次多项式来规划轨迹,以求鲁棒性强、距离最优。运用Matlab/Simulink对倾转四旋翼模型分析并验证,结果表明具有该结构的飞行器能够更加快速、准确地降落在斜面或移动平台上。
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| 关 键 词： | 四旋翼 倾转 降落 解耦控制 轨迹规划 |
| 收稿时间： | 2018-03-13 |
Design and Simulation on Autonomous Landing of a Quad Tilt Rotor |
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| Xiu Supu,Wen Yuanqiao,Xiao Changshi,Yuan Haiwen,Zhan Wenqiang.Design and Simulation on Autonomous Landing of a Quad Tilt Rotor[J].Journal of System Simulation,2020,32(9):1676-1685. |
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| Authors: | Xiu Supu Wen Yuanqiao Xiao Changshi Yuan Haiwen Zhan Wenqiang |
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| Institution: | 1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China; 2. Intelligent Transportation Systems Research Center, Wuhan 430063, China; 3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China; 4. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China; 5. School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China |
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| Abstract: | Aiming at the under-actuation of general quadrotors, a novel quad tilt rotor model is proposed. The model decouples the y-direction translation and roll rotation of a quadrotor by the four servos used respectively for the tilting control of the four propellers to realized the tilt hover and tilt flight of the UAV, the UAV can keep a tilt attitude which increases the maneuverability and the precise pose position and attitude control of the tilt UAV and ensures a good performance on the trajectory tracking and landing. A 5-degree polynomial optimization is used in UAV trajectory planning for the strong robustness and optimal distance. The quad tilt rotor model is verified by Matlab/Simulink, and the results show that the aircraft with the proposed model could land on a slope or moving platform more quickly and accurately. |
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| Keywords: | quadrotor tilt rotor landing decoupling control trajectory planning |
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