Design and Implementation of Cloud-Like Soft Drone S-Cloud
Design and Implementation of Cloud-Like Soft Drone S-Cloud
复制标题
类云软无人机S-Cloud的设计与实现
DOI：
10.1109/iros.2018.8593601
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Hyouk Ryeol Choi
中科院分区：
文献类型：
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作者：
Seung Hwan Song;Hyun Wook Shon;Gyu Yang Yeon;Hyouk Ryeol Choi
这项研究提出了一种新的无人机，称为S-CLOUD，为安全和长时间飞行而开发。它提供3轴（x，y和z）平移运动和起飞后一个多小时的稳定悬停。S-CLOUD由两部分组成;软飞艇部分和驱动部分。软飞艇是一个中心穿孔的环形部分，充满了氦气。因此，它是安全的飞行附近的人，因为它是轻和软，其所有的旋转部件是在中心的车辆，这不会得到损坏的碰撞。驱动部分插在软式飞艇的中心，包括由同轴转子和两轴交叉襟翼组成的流动控制机构。它控制飞行器的高度、姿态和平移运动。利用牛顿-欧拉方程推导了该系统的动力学特性和对扰动的反应特性，并对仿真结果进行了讨论。最后，制作了S-CLOUD原型系统，并通过实际应用验证了其可行性。
This study presents a new drone, called S-CLOUD, developed for safe and long flight time. It provides 3-axial (x, y, and z)translational motion and stable hovering for more than an hour after takeoff. S-CLOUD consists of two parts; soft blimp part and driving one. The soft blimp is a center-pierced torus-shaped part filled with Helium gas. Thus, it is safe to fly near people because it is light and soft, and all its rotating parts are at the center of the vehicle, which does not get damaged on collision. The driving part is plugged into the center of the soft blimp and includes the flow control mechanism, which consists of co-axial rotors and 2-axis crossed flaps. It controls the altitude, attitude, and translational movements of the vehicle. Its dynamic and reaction features against disturbances are derived using Newton-Euler formulation, and the simulation results are discussed. Finally, a prototype of S-CLOUD is fabricated and its feasibility is experimentally validated with practical applications.