一个新的倾斜转子VTOL无人机的设计和验证:结构优化,飞行动力学和PID控制
Haixia Gong1, Wei He1, Shuping Hou1
1Mechanical and Electrical Engineering College, Harbin Engineering University, Harbin 150001, China.
Sensors (Basel, Switzerland)
|September 19, 2025
概括
研究人员开发了一种新的倾斜转子垂直起降 (VTOL) 无人机 (UAV) 原型,通过实验飞行验证了其可行性. 这为推进VTOL无人机技术提供了关键数据.
科学领域:
- 航空航天工程 航空航天工程
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
背景情况:
- 倾斜旋转机无人机 (UAV) 提供了结合固定翼和多旋转机的能力,但缺乏广泛的实验验证.
- 弥合理论模型和实际应用之间的差距对于推进VTOL无人机技术至关重要.
研究的目的:
- 设计,建造和实验验证一个新的倾斜旋转机VTOL无人机原型.
- 为了解决倾斜旋转机VTOL无人机的实验验证差距.
- 将固定翼和多旋翼的优势集成到一个单一的无人机平台中.
主要方法:
- 开发了一种使用"X"四旋翼配置和欧勒参数进行态度转换的动态模型.
- 使用混合网格,惯性释放和统一目标方法对机身和着陆进行结构优化.
- 进行了振动分析以识别共振频率,并实施了双串联PID控制系统以确保稳定性.
- 通过低空飞行进行实验验证.
主要成果:
- 结构优化确保变形 (57.1毫米) 和应力 (379.21MPa) 保持在可接受的范围内.
- 降落的优化减少了32.63MPa的压力.
- 识别了危险的振动频率 (11-12 Hz),以防止共振.
- 实现稳定的电机转速跟踪 (±5RPM) 和滚动态度控制 (<10%的误差).
结论:
- 开发的倾斜旋转机VTOL无人机原型是可行的,证明了固定翼和多旋转机特征的成功整合.
- 实验验证提供了关键数据,突出了地面效应对杆/杆性能的影响.
- 这项研究为未来开发倾斜旋转机无人机提供了重要的实验见解.
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