多旋翼飞行器的可控度分析

基于George Klein等提出的可控度近似计算方法,对多旋翼的可控度数值进行求解以用于判断飞行器系统控制的难易程度。首先观察了分析变距四旋翼在一个舵机损坏和一个电机停转2种故障状态以及正常飞行状态的可控度变化。随后分别对变距和定桨距的四、六、八旋翼进行可控度比对分析,研究发现系统可控性的程度与旋翼的数量呈正相关。最后将可控度的概念运用于2种油电混合六旋翼飞行器,与常规电动定桨距六旋翼作对照,研究表明采用合适的构型能显著提高可控度。

Analysis of degree of control lability with multi-rotor aircraft

The degree of controllability of multi-rotors was solved to evaluate the control levels of the aircraft system,based on the approximation calculation method of controllability proposed by George Klein et al.Firstly,variations of the degree of controllability were analyzed under three conditions of one steering gear broken down,one motor breakoff and the normal flight respectively on the variable-pitch quadrotor.And then with the comparative analysis of variable-pitch and fixed-pitch of four,six and eight rotors,the results showed that the degree of controllability of the system was positively correlated with the number of the rotors.Finally,the conception of degree of controllability was applied to two kinds of hybrid-electric hexacopter compared with the conventional electric hexacopter with fixed-pitch.And the research results indicated that the proper configuration could improve the degree of controllability remarkably.