Modeling and Attitude Control Analysis of a Spherical VTOL Aerial Vehicle
Modeling and Attitude Control Analysis of a Spherical VTOL Aerial Vehicle
复制标题
球形垂直起降飞行器建模与姿态控制分析
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
J. Jacob
中科院分区：
文献类型：
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作者：
Weng Kheong Loh;J. Jacob
本文的目的是提出一个配置的多功能球形机器人车辆设计用于搜索和救援的目的，它结合了悬停，水平光，地面机动性的优点。球形框架允许车辆遇到物体而不会损坏螺旋桨和机载部件，并且可以在任何地方降落而不需要协调的着陆机动性。日本技术研究开发所（TRDI）开发的日本飞行球（JFS）被称为无人飞行和滚动轨道（UFRO），被用作初步设计的模板。目前的原型包括一个螺旋桨和八个控制叶片封闭在一个加强的球形框架。利用牛顿-欧拉方程建立了悬停飞机的详细动力学模型，并对其进行了线性化处理，以估计配平状态下悬停飞机的姿态。成功的姿态稳定性，在起飞和保持悬停模式轻证明使用COTS PID控制器。
The aim of this paper is to present a con guration for a multi-functional spherical robotic vehicle designed for search and rescue purposes, which combines the advantages of hover, level ight, and ground mobility. The spherical frame allows the vehicle to encounter an object without the risk of damaging the propeller and onboard components, and can land anywhere without the need of coordinated landing maneuverability. Called the Unmanned Flying and Rolling Orb (UFRO), the Japan Flying Sphere (JFS) developed by the Technical Research and Development Institute (TRDI) of Japan is used as the template for the preliminary design. The current prototype consists of a single propeller and eight control vanes enclosed in a reinforced spherical frame. A detailed dynamic model is established using the Newton-Euler formulation and linearized to estimate the attitude for hovering ight in trim conditions. Successful attitude stability during takeo and maintaining hover-mode ight is demonstrated using a COTS PID controller.