This paper presents a novel multicopter design with an additional momentum wheel. The added angular momentum reduces the vehicle’s sensitivity to torque disturbances compared to a conventional multicopter. The mechanical design, coupled with intelligent feedback control, allows for operation of autonomous aerial systems in challenging environments where conventional designs may fail. Sensitivity to torque disturbances is shown to monotonically decrease with increasing angular momentum, and the effect scales such that a greater improvement in torque disturbance sensitivity is experienced by smaller vehicles. For a fixed vehicle size, a trade-off exists between the added torque disturbance rejection capability, the power required to carry the wheel’s added mass, and the kinetic energy of the rotating wheel. A cascaded controller structure is proposed that accounts for the additional angular momentum and that accelerates or decelerates the momentum wheel to gain additional control authority in yaw. Theoretical results are validated experimentally using two vehicles of different scales. The proposed vehicle design is likely to be of value in situations where precision control is required in the face of large disturbances.

中文翻译：

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通过增加角动量来改善扭矩扰动抑制的新型多轴直升机

本文提出了一种新颖的多旋翼飞机设计，带有附加的动量轮。与传统的多旋翼机相比，增加的角动量降低了车辆对扭矩干扰的敏感性。机械设计与智能反馈控制相结合，可以在传统设计可能失败的严峻环境中操作自主航拍系统。扭矩扰动的灵敏度显示出随着角动量的增加而单调降低，并且效果成比例，使得较小的车辆在扭矩扰动灵敏度方面有了更大的提高。对于固定大小的车辆，要在增加的扭矩干扰抑制能力，承载车轮的附加质量所需的功率以及旋转的车轮的动能之间进行权衡。提出了一种级联的控制器结构，该结构考虑了额外的角动量，并通过加速或减速动量轮来获得偏航中的其他控制权。理论结果使用两种不同规模的车辆进行了实验验证。所提出的车辆设计可能在面对大干扰的情况下需要精确控制的情况下很有用。