All-round two-wheeled quadrotor helicopters with protect-frames for air-land-sea vehicle (controller design and automatic charging equipment)
All-round two-wheeled quadrotor helicopters with protect-frames for air-land-sea vehicle (controller design and automatic charging equipment)
复制标题
全能型两轮四旋翼直升机（带保护架的海陆空交通工具）（控制器设计及自动充电设备）
DOI：
10.1080/01691864.2014.991754
复制
发表时间：
2015
影响因子：
2
通讯作者：
Manabu Yamada
中科院分区：
文献类型：
--
作者：
Nana Takahashi;Shuhei Yamashita;Yurina Sato;Yuta Kutsuna;Manabu Yamada
介绍了一种新型的海陆空全方位无人机及其电池自动充电装置。这种新型无人机是一种四旋翼直升机，带有两个滚动保护架，不仅可以在空中飞行，还可以在地面、墙壁、天花板和水面上全方位移动。本文首先推导了新型无人机的动力学方程，该方程由一组非线性方程描述。其次，在惯性参数不确定的情况下，分别考虑了飞行模态和地面模态的跟踪问题，提出了基于输入输出线性化的自适应位置跟踪控制方法。设计问题被简化为一个线性系统，设计方法简单直接。最后，研制了一种新型的无人机电池自动充电装置。其独特之处在于，与充电终端的连接操作是通过地面滚动运动进行的，而不是从空中精确着陆。因此，即使在风大的室外和狭窄的室内空间，所提出的方法可以安全，可靠地完成电池充电。
This paper presents a new all-round Air–Land–Sea Unmanned Aerial Vehicle (UAV) and the automatic battery charging device. The new UAV is a quadrotor helicopter with two rolling protect-frames, which not only can fly in the air but also can move on the ground, the wall, the ceiling, and the water in all directions. In this paper, firstly, the dynamic equation is derived of the new UAV, which is described by a set of nonlinear equations. Secondly, some tracking problems are considered in both the flight mode and the ground one under uncertain inertia parameters, and useful adaptive control systems based on the input–output linearization are proposed for the position tracking control. The design problem is reduced to that of a linear system, and the design method is simple and straightforward. Finally, a new automatic battery charging device is developed for the UAV. It is the unique point that the connection operation to the charging terminal is carried out by ground rolling motion without precise landing from the air. Consequently, even if in windy outdoor and narrow indoor space, the proposed method can complete the battery charge safely and surely.