Four-rotor aircraft parameter measuring and modeling method

Abstract

The invention relates to a four-rotor aircraft parameter measuring and modeling method. The method includes: for paddle rotors and a body portion of a four-rotor aircraft, adopting a method combining experimental measuring and mathematical calculating to build a dynamic model; setting up a special experimental platform, and measuring rotor lift coefficient and rotor torque cofficient in the dynamic model; performing equivalent substitution on an aircraft body, abstracting complex aircraft body structure into several main portions, and directly performing rotational inertia calculation according to a physical definition. By using the method, the problem that wind tunnel experiment is expensive or high cost in purchasing a professional mechanical measuring instrument is solved; in the aspect of detail dealing, a tripod experiment platform structure is adopted, so that influence on electronic scale measuring caused by ground effect and airflow generated by the rotors is avoided; reflective strips are pasted on the back of each rotor, so that measuring accuracy of an infrared rotational speed meter is improved. Through model simplifying, calculation workload is reduced greatly.

Description

technical field [0001] The patent of the present invention relates to unmanned aerial vehicles, and specifically invents a method for parameter identification and modeling of a quadrotor unmanned aerial vehicle. Background technique [0002] The four-rotor micro UAV is a remote control / autonomous aircraft capable of vertical take-off and landing, free hovering, and a multi-rotor structure. It has the characteristics of strong maneuverability and ingenious structural design. It can complete indoor or narrow space flight tasks, and has low noise, strong concealment, high thrust-to-weight ratio and maneuverability. With the rapid development of science and technology, quadrotor micro UAV is a hot spot in the field of unmanned flight research. For the realization of the quadrotor UAV control system, many domestic and foreign enterprises and universities have carried out related research and development. In the early stage of the development of quadrotor drones, the classic PID...

AI Technical Summary

Problems solved by technology

[0003] When obtaining the lift coefficient, torque coefficient and moment of inertia of the aircraft rotor, if theoretical analysis, modeling and measurement are used, a comprehensive wind tunnel test, flight verification and model adjustment are required, which is difficult and costly to achieve

If you only use mathematical methods to derive the aerodynamic parameters, such as calculating the aerodynamic parameters based on the blade area, blade radius, air density and blade speed, but because the blade rotor is small in size and light in weight, it is easy to deform, and the calculation results will be changed when the conditions change. The influence is very large, and it is difficult to obtain an accurate value

Images