摘要
提出了一种新型串列式双旋翼飞行器。该飞行器采用上下串列螺旋桨设计,其中的一个螺旋桨固定,而另外一个螺旋桨可以摆动,以调整飞行器飞行姿态,达到控制飞行器飞行及保证稳定的目的。分析了国际上类似飞行器的发展概况及其特点,介绍了串列式双旋翼飞行器的机械结构设计方案。对飞行器的姿态控制问题进行了相应的理论分析,建立了动力学模型,并针对模型的特点改写了开源飞控APM。通过对控制系统及实际机械结构的试验,验证了方案的可行性。
This paper presents a new type of tandem double-rotor copter.The copter adopts a top and bottom tandem propeller design,one of which is fixed by a propeller,and the other propeller can be swung to adjust the flight attitude of the copter to achieve the purpose of controlling the flight and ensuring the stability of the copter.This paper introduces the development of similar copter in the world,and points out the advantages of this tandem double-rotor copter compared to existing similar copter.The mechanical structure design features and design schemes of the copter are introduced.On the attitude control problem of this copter,the dynamic model of tandem twin-rotor copter is established,and the open source flight control system APM is rewritten according to the characteristics of this copter.The feasibility of the scheme is verified by testing the control system and the actual mechanical structure.
作者
黄迅
HUANG Xun(Wuyi University,Jiangmen 529020,China)
出处
《机械工程师》
2019年第10期96-99,共4页
Mechanical Engineer
