南京理工大学学报（自然科学版）2016，Vol.40Issue(5)：520-526,7.DOI:10.14177/j.cnki.32-1397n.2016.40.05.003
四旋翼无人机偏航飞行过程量化稳定性分析
Quantitative stability of quadrotor unmanned aerial vechicle during yawing
摘要
Abstract
The reasonable configuration of structural parameters and dynamic parameters of the quadrotor unmanned aerial vehicles is helpful for improving the stability and saving the energy con-sumption. In view of that the qualitative analysis is still the main methods for analyzing the stability while the index of quantitative analysis of the structural stability is hard to establish, the yawing process of the quadrotor unmanned aerial vehicle is investigated and the Lyapunov exponent is adopted to establish the quantification relationship of the control input and the mechanical structural parameters of quadrotor unmanned aerial vehicles with its stability. The obtained relationship of structural parameters and the energy spectrum provides the analysis basis for improving the stability of the quadrotor unmanned aerial vehicles during yawing, such as the instability and the poor endurance. Compared with the traditional method,the method of Lyapunov exponent is easier to be built and the calculation process is simpler,and it can be widely applied to the stability analysis of nonlinear system of other robots.关键词
四旋翼无人机/机械结构/量化/运动稳定性/Lyapunov指数Key words
quadrotor unmanned aerial vehicles/mechanical structure/quantification/stability/Lyapunov exponents分类
信息技术与安全科学引用本文复制引用
刘云平,李先影,王田苗,张永宏,梅平..四旋翼无人机偏航飞行过程量化稳定性分析[J].南京理工大学学报（自然科学版）,2016,40(5):520-526,7.基金项目
国家自然科学基金(51405243 （）
51575283) （）
江苏省自然科学基金(BK20130999) （BK20130999）
