Flight performance of a swashplateless micro air vehicle
Flight performance of a swashplateless micro air vehicle
复制标题
无斜盘微型飞行器飞行性能
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Mark H. Yim
中科院分区：
文献类型：
--
作者：
James Paulos;Mark H. Yim
我们提出了一种新的227 g无斜盘共轴式直升机的控制设计，系统集成和自由飞评估。这种微型飞行器（MAV）仅使用两个直接固定在两个电机上的螺旋桨就可以控制滚转、俯仰和偏航方向以及机动推力。没有引入额外的气动控制面或致动器。相反，周期控制是通过主转子本身对调制驱动扭矩的欠驱动动态响应来获得的。比较传统的四电机四旋翼和四致动器固定间距同轴直升机的机械复杂性和致动器的质量分数。悬停时的配平功率消耗是在对称和非对称载荷状态下报告的。闭环轨迹跟踪演习证明在运动捕捉环境。
We present the control design, system integration, and free flight evaluation of a novel 227 g swashplateless coaxial helicopter. This micro aerial vehicle (MAV) achieves authority over roll, pitch, and yaw orientation as well as maneuvering thrust using only two propellers directly affixed to two motors. No additional aerodynamic control surfaces or actuators are introduced. Instead, cyclic control is obtained through the underactuated dynamic response of the main rotor itself to a modulated drive torque. Comparisons are drawn to conventional four-motor quadrotors and four-actuator fixed pitch coaxial helicopters in terms of mechanical complexity and actuator mass fraction. Trim power consumption in hover is reported across a range of symmetric and asymmetric loading states. Closed loop trajectory tracking maneuvers are demonstrated in a motion capture environment.