Emulating a Fully Actuated Aerial Vehicle Using Two Actuators
Emulating a Fully Actuated Aerial Vehicle Using Two Actuators
复制标题
使用两个执行器模拟全驱动飞行器
DOI：
--
复制
发表时间：
2018
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;Bennet Caraher;Mark H. Yim
以四旋翼为例的微型飞行器在其身体固定框架中产生向下的推力，并且只能通过改变其取向来进行空间机动。由于这种欠驱动，它们基本上不能同时调节方向和位置。此外，它们的可行机动仅限于具有连续可微加速度的空间轨迹。我们提出了一个共轴直升机，它模拟了充分的驱动力和扭矩（六个自由度），只用两个执行器。来自每个转子的推力矢量的方向由驱动电机通过在特殊的铰接叶片中激发循环挥舞响应来控制。在飞行实验中，通过跟踪空间轨迹，同时保持平面体姿态以及跟踪悬停附近的期望方向，同时保持位置，证明了有用的分离的方向和平移动力学。
Micro air vehicles exemplified by quadrotors generate downward thrust in their body fixed frame and may only maneuver spatially by changing their orientation. As a result of this underactuation they are fundamentally incapable of simultaneously regulating orientation and position. Furthermore, their feasible maneuvers are limited to spatial trajectories with continuously differentiable acceleration. We present a coaxial helicopter which emulates full actuation over forces and torques (six degrees of freedom) using only two actuators. The orientation of the thrust vector from each rotor is governed by the drive motor by exciting a cyclic flapping response in special articulated blades. The useful separation of orientation and translation dynamics is demonstrated in flight experiments by tracking spatial trajectories while maintaining flat body attitude as well as tracking desired orientations near hover while station keeping.