高技术通讯2016，Vol.26Issue(10)：867-875,9.DOI:10.3772/j.issn.1002-0470.2016.10-11.006
涵道式无人机的悬停姿态控制与运动稳定性分析
Hovering attitude control and stability analysis of a ducted-fan unmanned aerial vehicle (UAV)
摘要
Abstract
The motion stability of any ducted-fan unmanned aerial vehicle (UAV) was analyzed,and the analysis showed that when in a hover state,the ducted-fan UAV is easy to vibrate even it is out of control because of the influences of near-earth space,turbulence,and the Dutch role,while the optimization of the UAV's structure parameters is of great significance for improving the motion stability of the vehicle.Based on the analysis,the quantification relationship between the UAV's structural parameters and its motion stability was built from the viewpoint of structural design by using the Lyapunov exponent method,with the purposes of guiding the vehicle's structural design and control optimization,as well as providing the theoretic basis for promoting the system's dynamic stability.The simulation experimental results indicate that compared with the direct Lyapunov method,the proposed method's most important advantage is its constructivity,so it is a simple,effective tool for analysis of the motion stability of other non-linear systems such as robots.关键词
Lyapunov指数/涵道式无人机/运动稳定性/悬停Key words
Lyapunov exponent/ducted-fan unmanned aerial vehicle/stability analysis/hovering引用本文复制引用
刘云平,陈城,吴洪涛,李先影,黄希杰..涵道式无人机的悬停姿态控制与运动稳定性分析[J].高技术通讯,2016,26(10):867-875,9.基金项目
国家自然科学基金(51405243,51405241,61304089)和江苏省自然科学基金(BK20130999)资助项目. （51405243,51405241,61304089）
