新型非平面旋翼飞行机器人动力学及有界输入下的能量成型控制方法研究

For its applications in military and civilian fields, a kind of multi-rotor flying robot has grown up in recent years. The rotors of these robots are allocated according to a plane layout configuration which makes these robots to be an underactuated system and restricts its maneuvering abilities seriously. In response to these problems, this project proposes a novel kind of non-planar rotor flying robot, the rotors layout of this novel robot is designed uniquely to make the robot overcome the underactuated characteristic constitutionally and have higher maneuvering performance. And thus, the non-planar rotor robot has wide application fields such as the low-altitude reconnaissance, disaster search, rescue and other military or civilian fields. The aerodynamic feature and flight control problems of the non-planar rotor flying robot will be studied in this project through the methods of theoretical analysis, numerical simulations and prototype experiments.The influences of the rotor tilting angle, rotor spacing, flow conditions and other parameters on the aerodynamic characteristics of rotors system of the robot will be analysed firstly. the interaction effect between closed rotors and the lifting force increasing mechanism of multi-rotor system will be researched . And then, based on the energy shaping theory, the flight control methods of the robot will be researched using the controlled Lagrange function technique, and the influences of the bounded input and rotors fault characteristics on the robot flight performance will be solved. Finally, the prototype of noval non-planar rotor flying robot, which can control in six freedom degrees independently and tolerate the fault of driving unit, will be fabricated based on the above these researches. The research results of this project will be used to support the development work on this robot prototype in order to get a better flight effect.It also provide study experiences of the aerodynamics researches to multi-rotor aerial robot with other rotors layout structure. On the anathor hand, the research of this project expand the application areae of controlled Lagrange function method, hence the work of this project has dual significances of theory and practice.

现有的多旋翼飞行机器人都采用旋翼平面布局，使得机器人成为一种欠驱动系统，严重制约了其机动能力。针对这一问题，本研究提出了一种新型非平面旋翼飞行机器人，通过独特的非平面旋翼配置使其从本质上克服了欠驱动性并具有驱动单元失效故障冗余能力。围绕该机器人动力学和控制关键问题，拟采用理论分析、数值仿真和试验研究相结合的方法，分析非平面旋翼倾角、间距以及来流等参数对多旋翼系统气动力学特性的影响，研究旋翼相互作用和多旋翼系统升力"增升"机理，建立机器人动力学模型；基于能量成型思想，利用受控拉格朗日函数法（CL）研究机器人控制方法，同时解决旋翼有界输入和失效故障对机器人性能的影响；研制具有六自由度独立控制和失效故障容错能力的机器人原理样机。研究结果将为该新型机器人的实用化提供理论指导和试验依据，同时为其它多旋翼机器人的研究提供借鉴经验；另外，本项研究扩展了CL法的应用领域，具有显著的理论研究意义和应用价值。

多旋翼飞行机器人（又称多旋翼无人机）因其结构简单、操作灵活、环境适应性好等优点成为了今年国内外产业界和学术界的研究热点。现有的多旋翼飞行机器人大都采用旋翼平面布局，使得该种机器人成为一种欠驱动系统，严重制约了其机动能力。针对这一问题，本研究提出了一种新型非平面六旋翼飞行机器人，通过独特的非平面六旋翼配置使其从本质上克服了欠驱动性并具有驱动单元失效故障冗余能力。围绕该机器人动力学和控制基本问题，该项目主要研究了旋翼倾角、间距以及来流等参数对多旋翼系统气动力学特性的影响，研究旋翼相互作用和多旋翼系统升力“增升”机理，建立机器人动力学模型；研究该机器人控制方法，同时解决旋翼有界输入和失效故障对机器人性能的影响；研制具有六自由度独立控制和失效故障容错能力的机器人原理样机。研究结果显示：非平面双旋翼单元气动性能同平面状态双旋翼单元相比具有一定的优势，非平面双旋翼单元拉力高于平面状态双旋翼单元，最大可增加12%；间距比和倾转角度对气动性能有直接影响，调整间距比和倾转角度能够优化非平面双旋翼气动性能，增加非平面双旋翼单元拉力同时降低其功耗；与单独的两个无干扰单旋翼相比，非平面双旋翼单元的KT（拉力因子）和KP（功耗因子）都有不同程度的增加。对背对背双旋翼单元来说，KT和KP随间距比增加分别稳定在0.25到0.35之间和0.15到0.2之间，在间距比为1.0时KP有大幅增长，此时双旋翼性能明显下降。提出的变结构变参数（VSVC）PD-VSVCPI抗积分饱和控制器克服执行器饱和问题，仿真和试验证明该算法能够有效地抑制积分饱和对非平面多旋翼飞行机器人系统的恶劣影响；设计的基于最优分类面的故障诊断算法和基于扩展卡尔曼滤波器的观测器可通过观测执行单元升力因子迅速判断故障类型和位置，并保证执行单元故障后飞行机器人稳定飞行。原型机已经在农业生物防治、电力、公安等领域应有，产生较为重要的经济效益、社会效益和生态效益。