Proposal of 6DOF multi-copter and verification of its controllability
Proposal of 6DOF multi-copter and verification of its controllability
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六自由度多旋翼飞行器的提出及其可控性验证
DOI：
10.1109/sice.2015.7285456
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
H. Murakami
中科院分区：
文献类型：
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作者：
Taku Shimizu;Satoshi Suzuki;T. Kawamura;Hikaru Ueno;H. Murakami
多旋翼飞行器能够在三个维度上控制扭矩，而不受各轴干扰。凭借这一可行的特性，多旋翼飞行器可用于许多任务。然而，它们无法控制三维方向的推力，只能控制垂直方向的推力。因此，他们无法独立控制自己的立场和态度。由于这个缺点，传统无人机（UAV）的适用任务受到限制。所提出的无人机通过倾斜传统六轴飞行器的旋翼实现了 6DOF 可控性。所提出的无人机可以承担传统多旋翼飞行器无法完成的任务。作者还为所提出的无人机设计了控制器，并通过仿真验证了有效性。
Multi-copters have the capability to control the torque in three dimensions without interference from each axis. With that feasible characteristic, multi-copters are applied for many tasks. However, they cannot control the thrust in three dimensions, only in the vertical direction. Therefore, they cannot control their position and attitude independently. Because of this drawback, applicable tasks for conventional unmanned aerial vehicles (UAVs) are limited. The proposed UAV realizes 6DOF controllability by tilting the rotors of a conventional hexacopter. The proposed UAV can undertake the tasks that cannot be done by conventional multi-copters. The authors also designed the controller for the proposed U AV and the effectiveness was verified through a simulation.