MOTION STABILITY ANALYSIS OF FOUR ROTOR AIRCRAFT BASED ON LYAPUNOV INDEX METHOD

TANG MingJun; SUN Shuai

doi:10.16579/j.issn.1001.9669.2019.02.024

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MOTION STABILITY ANALYSIS OF FOUR ROTOR AIRCRAFT BASED ON LYAPUNOV INDEX METHOD

更新时间：2022-09-22

- MOTION STABILITY ANALYSIS OF FOUR ROTOR AIRCRAFT BASED ON LYAPUNOV INDEX METHOD
- Journal of Mechanical Strength Vol. 41, Issue 2, Pages: 407-412(2019)
- 作者机构：
  
  1. 扬州工业职业技术学院电气与信息工程学院
  2. 南京信息工程大学信息与控制学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2019.02.024
  CLC：
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TANG MingJun, SUN Shuai. MOTION STABILITY ANALYSIS OF FOUR ROTOR AIRCRAFT BASED ON LYAPUNOV INDEX METHOD. [J]. 41(2):407-412(2019)
DOI：

TANG MingJun, SUN Shuai. MOTION STABILITY ANALYSIS OF FOUR ROTOR AIRCRAFT BASED ON LYAPUNOV INDEX METHOD. [J]. 41(2):407-412(2019) DOI： 10.16579/j.issn.1001.9669.2019.02.024.

摘要

针对"四旋翼飞行器在相对复杂的近地空间,容易受到气流扰动,而出现抖动和失控等运动稳定性"问题。采用Lyapunov指数法对四旋翼飞行器运动稳定性开展研究:首先,利用欧拉-庞卡莱方程建立此飞行器的动力学模型,进而分析得到系统结构参数与稳定性之间的量化关系;其次,利用Lyapunov指数分析法进行稳定性分析。先进行Lyapunov指数计算,并对影响Lyapunov指数的主要参数进行分析,计算飞行器在起飞和着陆阶段对应姿态的Lyapunov指数谱,结果得到起飞阶段的稳定性比着陆阶段的稳定性好。最后,针对四旋翼飞行器在着陆阶段稳定性较差的情况,通过改变旋翼与机体中心距L的数值,可以提高其运动稳定性能。

Abstract

According to the four rotor aircraft in a relatively complex near earth space, easily disturbed, and the emergence of jitter and out of control of motion stability, this paper investigated the motion stability of four rotor aircraft based on Lyapunov exponents method. First of all, the dynamics model of aircraft was established by Euler Poincare equation, and then the quantitative relationship between the structure parameters and the stability of the system were analyzed. Secondly, the stability analysis was carried out by Lyapunov exponential analysis. The Lyapunov exponent was calculated and the main parameters affecting the Lyapunov exponent were analyzed. The Lyapunov exponent spectrum of the corresponding attitude of the aircraft in the taking off and landing phases was calculated, The results showed that the stability of the taking off phase was better than that of the landing stage. Finally, in view of the poor stability of the four rotor aircraft during landing phase, the motion stability of the aircraft can be improved by changing the L value of the center distance of the rotor and the body.

关键词

四旋翼飞行器动力学模型运动稳定性Lyapunov指数

Keywords

Four rotor aircraftDynamic modelMotion stabilityLyapunov index

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