微小型四旋翼无人机以轻小便携、灵敏机动等优势在军事、民用与科研领域获得广泛应用。但无人机小型化带来优势的同时也必然导致储能空间急剧减缩, 引发续航时间缩短、使用效能恶化。源于鸟类栖停行为的垂面栖停机动是当下微小型四旋翼无人机续航延时的有效策略, 垂面栖停机动是利用无人机的机动能力使无人机在栖停装置配合下能够像鸟类栖停一样降落在垂直墙面上。当无人机栖停在垂直墙面时, 可依靠栖停装置与垂面间的相互作用力来平衡重力和力矩。无人机垂面栖停无需开启电机, 因此, 可以达到减小能量消耗、延长任务时间的目的。垂面栖停机动涉及较为复杂的运动控制问题, 本文采用"轨迹规划+跟踪控制"的方法实现四旋翼无人机垂面栖停过程。首先, 对四旋翼无人机进行动力学建模并对垂面栖停的研究维度限制在二维的纵向运动。然后, 基于纵向运动模型, 建立了考虑栖停运动约束的轨迹规划方法。最后, 为了解决实际飞行中存在的外部扰动与内部非精确参数等因素的影响, 采用几何跟踪控制方法并根据栖停问题特征对该方法进行改进。Simulink仿真结果表明, 改进跟踪控制方法能够很好地解决垂面栖停问题, 实现对预设轨迹的跟踪控制。
Micro-quadrotors have wide applications in the areas of military use, civil use and scientific research due to their tiny size, agility and portability. However, miniaturization of the UAV reduces the space of energy storge, leading to loss of endurance and deterioration of deployment performance. Perching maneuvering, originating from birds perching, is a hot topic for exploring the solution for extending the endurance of micro quadrotors. This method aims to take the advantage of maneuverability to achieve perching the quadrotor on the vertical surface with the help of perching mechanism. When perching, the interaction force from the vertical surface can afford the gravity of quadrotor, and there is no need to maintain the aerodynamics. Therefore, motors can be turned off, and the energy consumption would be much less than that in flight. Perching maneuvering involves complex problems such as motion control. In this paper, perching control is solved by trajectory generation and track control. First, a dynamics model is built to describe the motion of the perching quadrotor, and the model is further simplified into a longitudinal model. Then, open-loop trajectory is generated and the initial state is set with reference to the perching restrictions. Finally, the geometry control method is applied to achieve track control, and the method is also modified to make the track more precisely. Simulink experiments verify the effectiveness of the proposed method.
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