Pairwise multirotor wake-encounter response studies with identical leader-follower unmanned aerial system (UAS) were conducted for a pair of Phantom 3 sized (∼1.2 kg) multirotor UAS with PX4 attitude controller used on the follower UAS. This is accomplished in the form of one-way coupled wake field from computational fluid dynamic (CFD) solution to Simulink software-in-the-loop (SITL) simulations. The study investigates resulting wake response as influenced by the substitution of idealized Lamb-Oseen vortex pair as stand-in for the CFD generated wake-vortex field produced by the leader UAS, as influenced by lateral positioning of the follower UAS relative to the track centerline, and as influenced by the follow distance between the encounter pair. The simulation results showed that the substitution of CFD with Lamb-Oseen vortex pair lacks flow along the vortex-axial direction, thus did not trigger the dynamic instability seen when the UAS was disturbed in all three rotational axis that was seen with CFD wake field. The dynamic instability of PX4 attitude controller in CFD wake field could be corrected by increasing the derivative gain for the yaw-rate. The investigations also showed that the maximum initial induced tilt angle, which is also the maximum value observed throughout, is highest when the follower UAS is positioned at a lateral offset equal to the distance between the wake-vortex core and the track centerline with the smallest follow distance feasible for the simulation to take place.

对一对 Phantom 3 尺寸（约 1.2 kg）多旋翼 UAS 和随从 UAS 上使用的 PX4 姿态控制器，使用相同的前导-跟随无人机系统（UAS）进行了成对多旋翼尾流响应研究。这是通过从计算流体动力学 (CFD) 解决方案到 Simulink 软件在环 (SITL) 模拟的单向耦合尾流场的形式来实现的。该研究调查了由理想化的 Lamb-Oseen 涡旋对代替由领先的 UAS 产生的 CFD 生成的尾流涡流场的替代影响所产生的尾流响应，受跟随者 UAS 相对于轨道中心线的横向定位的影响，并受相遇对之间的跟随距离的影响。仿真结果表明，用 Lamb-Oseen 涡对替代 CFD 没有沿涡轴方向流动，因此不会触发 UAS 在所有三个旋转轴上都受到干扰时看到的动态不稳定，而 CFD 尾流场可以看到。PX4 姿态控制器在 CFD 尾流场中的动态不稳定性可以通过增加偏航率的微分增益来纠正。调查还表明，最大初始诱导倾角，这也是整个观察到的最大值，当跟随无人机定位在横向偏移量等于尾涡核心和轨道中心线之间的距离时最高。遵循模拟发生的可行距离。因此，当 UAS 在所有三个旋转轴上受到干扰时，不会触发在 CFD 尾流场中看到的动态不稳定。PX4 姿态控制器在 CFD 尾流场中的动态不稳定性可以通过增加偏航率的微分增益来纠正。调查还表明，最大初始诱导倾角，这也是整个观察到的最大值，当跟随无人机定位在横向偏移量等于尾涡核心和轨道中心线之间的距离时最高。遵循模拟发生的可行距离。因此，当 UAS 在所有三个旋转轴上受到干扰时，不会触发在 CFD 尾流场中看到的动态不稳定。PX4 姿态控制器在 CFD 尾流场中的动态不稳定性可以通过增加偏航率的微分增益来纠正。调查还表明，最大初始诱导倾角，这也是整个观察到的最大值，当跟随无人机定位在横向偏移量等于尾涡核心和轨道中心线之间的距离时最高。遵循模拟发生的可行距离。