国产bbaaaaa片,成年美女黄网站色视频免费,成年黄大片,а天堂中文最新一区二区三区,成人精品视频一区二区三区尤物

首頁(yè)> 外文學(xué)位 >Aerodynamics and Control of Quadrotors
【24h】

Aerodynamics and Control of Quadrotors

機(jī)譯：四旋翼的空氣動(dòng)力學(xué)和控制

獲取原文
獲取原文并翻譯 | 示例
  • 摘要
  • 著錄項(xiàng)
  • 相似文獻(xiàn)
  • 相關(guān)主題

摘要

Quadrotors are aerial vehicles with a four motor-rotor assembly for generating lift and controllability. Their light weight, ease of design and simple dynamics have increased their use in aerial robotics research. There are many quadrotors that are commercially available or under development. Commercial off-the-shelf quadrotors usually lack the ability to be reprogrammed and are unsuitable for use as research platforms. The open-source code developed in this thesis differs from other open-source systems by focusing on the key performance road blocks in implementing high performance experimental quadrotor platforms for research: motor-rotor control for thrust regulation, velocity and attitude estimation, and control for position regulation and trajectory tracking. In all three of these fundamental subsystems, code sub modules for implementation on commonly available hardware are provided. In addition, the thesis provides guidance on scoping and commissioning open-source hardware components to build a custom quadrotor. A key contribution of the thesis is then a design methodology for the development of experimental quadrotor platforms from open-source or commercial off-the-shelf software and hardware components that have active community support. Quadrotors built following the methodology allows the user access to the operation of the subsystems and, in particular, the user can tune the gains of the observers and controllers in order to push the overall system to its performance limits. This enables the quadrotor framework to be used for a variety of applications such as heavy lifting and high performance aggressive manoeuvres by both the hobby and academic communities. To address the question of thrust control, momentum and blade element theories are used to develop aerodynamic models for rotor blades specific to quadrotors. With the aerodynamic models, a novel thrust estimation and control scheme that improves on existing RPM (revolutions per minute) control of rotors is proposed. The approach taken uses the measured electrical power into the rotors compensating for electrical loses, to estimate changing aerodynamic conditions around a rotor as well as the aerodynamic thrust force. The resulting control algorithms are implemented in real-time on the embedded electronic speed controller (ESC) hardware. Using the estimates of the aerodynamic conditions around the rotor at this level improves the dynamic response to gust as the low-level thrust control is the fastest dynamic level on the vehicle. The aerodynamic estimation scheme enables the vehicle to react almost instantaneously to aerodynamic changes in the environment without affecting the overall dynamic performance of the vehicle. (Abstract shortened by ProQuest.).
機(jī)譯：四旋翼飛行器是具有四個(gè)電動(dòng)機(jī)-轉(zhuǎn)子組件的飛行器，用于產(chǎn)生升力和可控性。它們的重量輕，易于設(shè)計(jì)和簡(jiǎn)單的動(dòng)力學(xué)特性已使其在航空機(jī)器人研究中的應(yīng)用日益廣泛。市面上有很多四旋翼轉(zhuǎn)子或正在開(kāi)發(fā)中。商業(yè)現(xiàn)成的四旋翼飛機(jī)通常缺乏重新編程的能力，因此不適合用作研究平臺(tái)。本文開(kāi)發(fā)的開(kāi)源代碼與其他開(kāi)源系統(tǒng)的不同之處在于，它著眼于實(shí)現(xiàn)高性能實(shí)驗(yàn)四旋翼平臺(tái)進(jìn)行研究的關(guān)鍵性能障礙：用于推力調(diào)節(jié)的電動(dòng)機(jī)-轉(zhuǎn)子控制，速度和姿態(tài)估計(jì)以及用于位置調(diào)節(jié)和軌跡跟蹤。在這三個(gè)基本子系統(tǒng)中，均提供了用于在常用硬件上實(shí)現(xiàn)的代碼子模塊。此外，本文還為確定和調(diào)試開(kāi)源硬件組件以構(gòu)建自定義四旋翼飛機(jī)提供了指導(dǎo)。然后，論文的主要貢獻(xiàn)是一種設(shè)計(jì)方法，用于從具有活躍社區(qū)支持的開(kāi)源或商業(yè)現(xiàn)貨供應(yīng)的軟件和硬件組件開(kāi)發(fā)實(shí)驗(yàn)性四旋翼平臺(tái)。按照該方法構(gòu)建的四旋翼飛行器允許用戶(hù)訪(fǎng)問(wèn)子系統(tǒng)的操作，尤其是用戶(hù)可以調(diào)整觀察者和控制器的增益，從而將整個(gè)系統(tǒng)推向性能極限。這使四旋翼框架可用于各種應(yīng)用，例如愛(ài)好和學(xué)術(shù)團(tuán)體的重物提升和高性能的主動(dòng)演習(xí)。為了解決推力控制的問(wèn)題，動(dòng)量和葉片元件理論被用于開(kāi)發(fā)針對(duì)四旋翼的轉(zhuǎn)子葉片的空氣動(dòng)力學(xué)模型。利用空氣動(dòng)力學(xué)模型，提出了一種新穎的推力估算和控制方案，該方案改進(jìn)了現(xiàn)有的轉(zhuǎn)子RPM（每分鐘轉(zhuǎn)數(shù)）控制。所采用的方法使用測(cè)得的進(jìn)入轉(zhuǎn)子的電能來(lái)補(bǔ)償電損耗，以估算轉(zhuǎn)子周?chē)粩嘧兓目諝鈩?dòng)力學(xué)狀況以及空氣動(dòng)力學(xué)推力。最終的控制算法在嵌入式電子速度控制器（ESC）硬件上實(shí)時(shí)實(shí)現(xiàn)。由于低水平推力控制是車(chē)輛上最快的動(dòng)態(tài)水平，因此使用此水平的轉(zhuǎn)子周?chē)諝鈩?dòng)力學(xué)條件的估計(jì)值可以改善對(duì)陣風(fēng)的動(dòng)態(tài)響應(yīng)。空氣動(dòng)力學(xué)估算方案使車(chē)輛幾乎可以立即對(duì)環(huán)境中的空氣動(dòng)力學(xué)變化做出反應(yīng)，而不會(huì)影響車(chē)輛的整體動(dòng)態(tài)性能。 （摘要由ProQuest縮短。）。

著錄項(xiàng)

  • 作者

    Bangura, Moses.;

  • 作者單位

    The Australian National University (Australia).;

  • 授予單位 The Australian National University (Australia).;
  • 學(xué)科 Aerospace engineering.
  • 學(xué)位 Ph.D.
  • 年度 2017
  • 頁(yè)碼 216 p.
  • 總頁(yè)數(shù) 216
  • 原文格式 PDF
  • 正文語(yǔ)種 eng
  • 中圖分類(lèi) 生理學(xué);
  • 關(guān)鍵詞

相似文獻(xiàn)

  • 外文文獻(xiàn)
  • 中文文獻(xiàn)
  • 專(zhuān)利
獲取原文

客服郵箱：kefu@zhangqiaokeyan.com

京公網(wǎng)安備：11010802029741號(hào) ICP備案號(hào)：京ICP備15016152號(hào)-6 六維聯(lián)合信息科技 (北京) 有限公司?版權(quán)所有

  • 客服微信

  • 服務(wù)號(hào)