基于悬停四旋翼位置姿态信息的风场估计方法研究 -- 西北工业大学学报,2016,34(4):684-690
论文:2016,Vol:34,Issue(4):684-690
引用本文:
屈耀红, 邢哲文, 袁冬莉, 张友民. 基于悬停四旋翼位置姿态信息的风场估计方法研究[J]. 西北工业大学学报
Qu Yaohong, Xing Zhewen, Yuan Dongli, Zhang Youmin. Wind Field Estimation Based on Position and Attitude Information of Quadrotor in Hover[J]. Northwestern polytechnical university

基于悬停四旋翼位置姿态信息的风场估计方法研究
屈耀红1, 邢哲文1, 袁冬莉1, 张友民2
1. 西北工业大学 自动化学院, 陕西 西安 710072;
2. 康科迪亚大学 机械与工业工程系, 蒙特利尔, QC H3G 1M8, 加拿大
摘要:
基于四旋翼飞行器悬停状态下的位置及姿态信息,提出了一种离线的风场估计方法。首先根据Dryden大气紊流模型建立了四旋翼飞行器所处的风场环境,并通过分析有风情况下旋翼升力的变化,得到旋翼升力与风场信息(风速、风向)的函数关系式;接着利用牛顿-欧拉方法推导出有风扰动下的四旋翼动力学方程,并进一步设计了用于保持飞行器悬停状态的PID控制器;最后,基于悬停状态下四旋翼飞行器的位置姿态信息,计算得到飞行器所处的风场环境信息。MATLAB仿真结果表明所提方法在有紊流干扰的情况下,能够有效地提取出风场环境里的主风信息。
关键词:    控制器    MATLAB    四旋翼飞行器    旋翼升力    Dryden模型    定点悬停    风场估计   
Wind Field Estimation Based on Position and Attitude Information of Quadrotor in Hover
Qu Yaohong1, Xing Zhewen1, Yuan Dongli1, Zhang Youmin2
1. School of Automation, Northwestern Polytechnical University, Xi'an 710072, China;
2. Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC H3G 1M8, Canada
Abstract:
A wind field estimation method is proposed based on the position and attitude information of a quadrotor in this paper. First, the flight environment of the quadrotor aircraft is built based on Dryden atmospheric turbulence model, and the function relation between the rotor lift and the wind field information (wind speed and the wind direction) is obtained by analyzing the change of rotor lift; then the dynamic equation of quadrotor with wind disturbance is deduced using the Newton Euler method, and further a PID controller is designed in order to keep the aircraft flying in fixed-point hover; finally, the wind field information is calculated. The simulation results in Matlab/M-file show that the proposed method can effectively extract the main wind information of flight environment.
Key words:    controllers    MATLAB    quadrotor aircraft    rotor lift    Dryden model    fixed-point hover    wind field estimation   
收稿日期: 2016-03-10     修回日期:
DOI:
基金项目: 国家自然科学基金(61473229、60974146)资助
通讯作者:     Email:
作者简介: 屈耀红(1971-),西北工业大学副教授,主要从事无人机组合导航与风场估计研究。
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