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Contents:2019,Vol:24,Issue(1):19-29 |
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Citation: |
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CHEN Cheng, ZHANG Liru, ZHANG Cheng, FU Weijie, LIU Na. Stability Analysis and Structural Parameters Optimization of Quadrotor Unmanned Aerial Vehicles[J]. International Journal of Plant Engineering and Management, 2019, 24(1): 19-29 |
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| Stability Analysis and Structural Parameters Optimization of Quadrotor Unmanned Aerial Vehicles |
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| CHEN Cheng1,2, ZHANG Liru1,2, ZHANG Cheng3, FU Weijie1,2, LIU Na1,2 |
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1. Nanjing Automation Institute of Water Conservancy and Hydrology, Nanjing 210012, China;
2. Hydrology and Water Resources Engineering Research Center for Monitoring, Nanjing 210012, China;
3. Hefei University of Technology, Hefei 230000, China |
| Abstract: |
| To increase dynamic stability of the quadrotor unmanned aerial vehicles in varying mechanical structure. The qualitative analysis is considered the main methods for analyzing the dynamic stability, while the index of qualitative analysis of the structural stability and the dynamic stability are still hard to establish. Therefore, the process during rolling or pitching is selected for investigating in the present papers, the method of Lyapunov exponent is adopted for establishing the quantification relationship of between structural parameters of quadrotor unmanned aerial vehicles and dynamic stability, and its dynamic stability for guiding the design of the vehicle's mechanical structure and the optimization of its stability control by using the relationship. As compared to its counterpart of Lyapunov's second method, the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponent process are constructive which makes the stability analysis of complex nonlinear systems possible. |
| Key words:
quadrotor unmanned aerial vehicles
structure optimization
dynamic model
dynamic stability
Lyapunov exponent
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| Received: 2018-07-14
Revised:
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| DOI: 10.13434/j.cnki.1007-4546.2019.0103 |
| Funds: This paper is supported by the Basic ScientificResearch Operation Expenses of Central Public Welfare Research Institutes (Y917006, Y917008) |
| Corresponding author:
Email： |
Author description: CHEN Cheng is a graduate and engineer, Nanjing Automation Institute of Water Conservancy and Hydrology.Her research interests are Robot and Aircraft Stability. chencheng_nuist@sina.com
ZHANG Liru is a graduate and senior engineer, Nanjing Automation Institute of Water Conservancy and Hydrology. Her research interests are hydrology and water resources monitoring. zhangliru12@163.com
ZHANG Cheng is a master, Hefei University of Technology. His research interests is electronics and communications engineering. 5140137@qq.com
FU Weijie is a graduate and senior engineer, Nanjing Automation Institute of Water Conservancy and Hydrology. His research interests are research and development of the instrument. fuweijie@nsy.com.cn
LIU Na is a graduate and engineer, Nanjing Automation Institute of Water Conservancy and Hydrology, Her research interests are hydrology and water resources monitoring. 66507886@qq.com
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