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进行了涵道式无人机的运动稳定性分析,指出无人机在悬停状态下受近地空间、气流颠簸和荷兰滚的影响,导致系统极易出现抖动甚至失控,而优化飞行器的结构参数对于提高飞行器运动稳定性具有重要意义。基于这种分析,从机械结构设计出发,通过Lyapunov指数方法建立飞行器结构参数与系统运动稳定性之间的量化关系,以此指导系统的机械结构设计及控制系统优化,为提高系统执行飞行任务的可靠性和稳定性奠定理论基础。该方法与Lyapunov直接法相比最大的优点是其可构建性,从而为分析其他机器人等非线性系统的运动稳定性提供了一种简单有效的工具。
The analysis of the movement stability of the tunnel-type UAV indicates that the unmanned aerial vehicle is affected by the near-ground space, the turbulence of the air flow and the Dutch roll in the hovering state, resulting in the system being prone to jitter or even out of control. However, the structure of the aircraft is optimized The parameters are of great importance for improving the stability of the aircraft. Based on this analysis, starting from the mechanical structure design, the quantitative relationship between the structural parameters of the aircraft and the stability of the system is established by the Lyapunov exponent method to guide the mechanical structure design and control system optimization of the system. In order to improve the system performance of the mission Reliability and stability to lay a theoretical foundation. The biggest advantage of this method over Lyapunov’s direct method is its constructability, which provides a simple and effective tool for analyzing the motion stability of nonlinear systems such as other robots.