Abstract

In this paper we present a novel VTOL aircraft design which evolves from our previous work on passively coupled systems. This can be seen as an improvement over our previous drone topology since the present one allows the main hub of the drone to assume any arbitrary orientation, while the center of mass of the main hub is stabilized at a desired point. This design manages to decouple the movement of the center of mass by the movement of the orientation. Therefore the reference for the center of mass of the main hub is independent by the reference for the orientation of the main hub at any point of the trajectory. We derive in detail the full nonlinear model using D’Alembert’s principle and propose a fully nonlinear control techniques composed of two cascaded controllers. The inner loop controller performs an additional optimization step to assign commands to eight rotors such that six variables are fully controlled. The outer loop controller upon solving a nonlinear algebraic equation provides the required references to the inner loop controller such that a six degrees of freedom reference (trajectory of the c.o.m and attitude of main body) is followed with vanishing error. Simulations of the mathematical model as well the proposed control law for different types of trajectories are also presented.

摘要

在本文中，我们提出了一种新颖的 VTOL 飞机设计，该设计是从我们之前关于被动耦合系统的工作演变而来的。这可以看作是对我们之前的无人机拓扑的改进，因为当前的拓扑允许无人机的主轮毂采取任意方向，同时主轮毂的质心稳定在所需的点。这种设计设法通过方向的运动来解耦质心的运动。因此，主轮毂质心的参考与主轮毂在轨迹的任何点处的定向的参考无关。我们利用达朗贝尔原理详细推导了完全非线性模型，并提出了由两个级联控制器组成的完全非线性控制技术。内环控制器执行额外的优化步骤，将命令分配给八个转子，以便完全控制六个变量。外环控制器在求解非线性代数方程时为内环控制器提供所需的参考，使得六自由度参考（计算机的轨迹和主体的姿态）遵循消失误差。还提出了数学模型的仿真以及针对不同类型轨迹提出的控制律。m 和主体的姿态）跟随误差消失。还提出了数学模型的仿真以及针对不同类型轨迹提出的控制律。m 和主体的姿态）跟随误差消失。还提出了数学模型的仿真以及针对不同类型轨迹提出的控制律。