论文标题
带有可倾斜螺旋桨的多局部航空车的静态悬停实现
Static Hovering Realization for Multirotor Aerial Vehicles with Tiltable Propellers
论文作者
论文摘要
本文介绍了一项关于多转机航空车（MRAV）与可倾斜螺旋桨在不同方向上实现和维持静态盘旋的能力的理论研究。为了分析具有可倾斜螺旋桨实现静态盘旋的MRAV的能力，引入了平台控制输入和应用力和力矩之间的新型线性图。引入地图与平台在不同方向上悬停的能力之间的关系得到了发展。相应地，详细介绍了具有可倾斜螺旋桨的MRAV来实现和维持静态盘旋的条件。然后引入了数值指标，这反映了MRAV在不同方向上维持静态盘旋的能力。具有可倾斜螺旋桨的MRAV子类的子类定义为静态悬停的平台（CSH），其中CSH平台是MRAV，无法维持与固定螺旋桨的静态悬停，但可以通过倾斜螺旋桨来实现静态悬停。最后，进行大量模拟以测试和验证上述发现，并证明所提出的数值指标对平台动力学的影响。
This paper presents a theoretical study on the ability of multi-rotor aerial vehicles (MRAVs) with tiltable propellers to achieve and sustain static hovering at different orientations. To analyze the ability of MRAVs with tiltable propellers to achieve static hovering, a novel linear map between the platform's control inputs and applied forces and moments is introduced. The relation between the introduced map and the platform's ability to hover at different orientations is developed. Correspondingly, the conditions for MRAVs with tiltable propellers to realize and sustain static hovering are detailed. A numerical metric is then introduced, which reflects the ability of MRAVs to sustain static hovering at different orientations. A subclass of MRAVs with tiltable propellers is defined as the Critically Statically Hoverable platforms (CSH), where CSH platforms are MRAVs that cannot sustain static hovering with fixed propellers, but can achieve static hovering with tilting propellers. Finally, extensive simulations are conducted to test and validate the above findings, and to demonstrate the effect of the proposed numerical metric on the platform's dynamics.
