Four-rotor aircraft parameter measuring and modeling method

A four-rotor aircraft and parameter measurement technology, applied in the field of unmanned aerial vehicles, can solve problems such as difficulty in implementation, high cost, and difficulty in obtaining accurate values

Active Publication Date: 2016-10-26
WUHAN UNIV OF SCI & TECH
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AI Technical Summary

Problems solved by technology

[0003] When obtaining the lift coefficient, torque coefficient and moment of inertia of the aircraft rotor, if theoretical analysis, modeling and measurement are used, a comprehensive wind tunnel test, flight verification and model adjustment are required, which is difficult and costly to achieve
If you only use mathematical methods to derive the aerodynamic pa

Method used

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  • Four-rotor aircraft parameter measuring and modeling method

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Embodiment Construction

[0032] In order to further illustrate the technical solution of the present invention, the present invention is described in detail with reference to the accompanying drawings.

[0033] The method for low-cost parameter identification of a quadrotor aircraft in the present invention specifically includes the following steps:

[0034] Step S1: Establish a kinetic model:

[0035] Such as figure 1 Shown is a schematic diagram of the dynamics model of the quadrotor UAV in the present invention. The force on the body mainly comes from four aspects: 1. The influence of the rigid body motion on the body, 2. The gyroscopic effect of the rotor on the force on the body, 3. The aerodynamic effect of the rotor on the force on the body, 4. Air Resistance is the force exerted on the body. The four influences are superimposed on each other to form a quadrotor dynamics model. In order to establish the dynamic model of the quadrotor UAV, two coordinate systems are defined first: the naviga...

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Abstract

The invention relates to a four-rotor aircraft parameter measuring and modeling method. The method includes: for paddle rotors and a body portion of a four-rotor aircraft, adopting a method combining experimental measuring and mathematical calculating to build a dynamic model; setting up a special experimental platform, and measuring rotor lift coefficient and rotor torque cofficient in the dynamic model; performing equivalent substitution on an aircraft body, abstracting complex aircraft body structure into several main portions, and directly performing rotational inertia calculation according to a physical definition. By using the method, the problem that wind tunnel experiment is expensive or high cost in purchasing a professional mechanical measuring instrument is solved; in the aspect of detail dealing, a tripod experiment platform structure is adopted, so that influence on electronic scale measuring caused by ground effect and airflow generated by the rotors is avoided; reflective strips are pasted on the back of each rotor, so that measuring accuracy of an infrared rotational speed meter is improved. Through model simplifying, calculation workload is reduced greatly.

Description

technical field [0001] The patent of the present invention relates to unmanned aerial vehicles, and specifically invents a method for parameter identification and modeling of a quadrotor unmanned aerial vehicle. Background technique [0002] The four-rotor micro UAV is a remote control / autonomous aircraft capable of vertical take-off and landing, free hovering, and a multi-rotor structure. It has the characteristics of strong maneuverability and ingenious structural design. It can complete indoor or narrow space flight tasks, and has low noise, strong concealment, high thrust-to-weight ratio and maneuverability. With the rapid development of science and technology, quadrotor micro UAV is a hot spot in the field of unmanned flight research. For the realization of the quadrotor UAV control system, many domestic and foreign enterprises and universities have carried out related research and development. In the early stage of the development of quadrotor drones, the classic PID...

Claims

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Application Information

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IPC IPC(8): B64F5/00
Inventor 陈洋王正熙吴怀宇程磊龙文
Owner WUHAN UNIV OF SCI & TECH
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