四旋翼无人机前飞模态特性

doi:10.3969/j.issn.1000-1093.2021.11.021

摘要/Abstract

摘要： 为研究四旋翼无人机在前飞模态下的特性，通过机理建模（叶素法）和风洞试验分析多旋翼无人机在前飞时桨叶和机身气动特性，分别得到了桨叶和机身在前飞模态的气动力模型。该气动力模型带入建立的刚体运动学方程中,可得四旋翼无人机在前飞模态下的非线性动力学模型和状态空间模型，并进行了风洞试验验证。结果表明：在前飞时桨叶气动力模型与悬停模型存在较大的区别；四旋翼在前飞模态时存在俯仰/垂向通道的耦合和滚转/偏航通道的耦合。

关键词: 四旋翼无人机, 前飞模态, 风洞试验, 动力学模型, 桨叶气动力

Abstract: To study the characteristics of quadrotor unmanned aerial vehicle (UAV) in the forward flying mode, an aerodynamic model of rotor and fuselage is established through the mechanism analysis (blade element method) and wind-tunnel experiments. The nonlinear dynamic model and the state-space model of quadrotor UAV were acquired with considering the previous aerodynamic models and verified through wind tunnel test. The result shows that the aerodynamic characteristics of a rotor in forward flying mode are quite different from that in hovering mode; and the coupling of pitch channel and vertical channel，and the coupling of roll channel and yaw channel exist in the forward flying mode.

Key words: quadrotorUAV, forwardflyingmode, windtunneltest, dynamicsmodel, rotoraerodynamics

中图分类号:

V279⁺.2

叶建川，王江，梁熠，宋韬，吴则良，徐超. 四旋翼无人机前飞模态特性[J]. 兵工学报, 2021, 42(11): 2476-2490.

YE Jianchuan， WANG Jiang， LIANG Yi， SONG Tao， WU Zeliang， XU Chao. Characteristics of Quadrotor UAV in Forward Flying Mode[J]. Acta Armamentarii, 2021, 42(11): 2476-2490.

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