基于正可控度的多旋翼飞行器构型分析与优化设计

Multicopters play a critical role in the military and civil applications, and it is of great importance to consider the flight safety of multicopters. Form the point of view of the configuration and control properties, there are two main important problems: i) Most of the multicopters are designed to meet the mission requirements only, but flight safety is not considered, ii) the classical controllability theories of linear systems are not sufficient to test the controllability of the multicopters because the rotors of multicopters can only provide unidirectional lift (upward or downward) in practice. Owing to these reasons, this project studies the optimal configuration design problem systematically from the degree of positive controllability, configuration safety analysis, rotor optimal design, and flight experiments. This project contains the following four parts: i) Degree of positive controllability, where the degree of controllability for linear system with positive constrains is studied. This is one of our contributions. ii) Safety analysis based on the positive controllability for all the multicopter configurations that meet both the flight mission requirements and the airworthiness safety requirements, iii) Rotor parameters optimization, which gives the optimal muticopter configuration, and this is another contribution of this project. iv) Experiments and deployment, where the optimal configuration is verified and applied to real projects.

近年来多旋翼无人机在军用和民用领域的应用越来越广泛，其安全性问题也越来越突出。从构型和控制的角度分析存在两个重要的问题：1）已有多旋翼飞行器构型设计方法基本以满足飞行任务要求为目标，很少以满足安全性要求为目标的研究成果；2）多旋翼飞行器各旋翼所能提供的力均为单方向，已有可控性判据基本不再适用。基于这两个原因，本项目从多旋翼飞行器构型分析、旋翼系统优化设计、适航安全性要求多个方面出发，系统的研究多旋翼飞行器构型设计问题，给出同时满足飞行任务要求、安全性要求，并且抗干扰能力强的飞行器构型设计方法。本项目主要包括以下四个方面的工作：1）针对多旋翼飞行器，研究正约束限制下系统的可控性度量方法；2）构型安全性分析，基于正可控性确定满足飞行任务和适航安全性要求的构型；3）旋翼系统优化设计，以正可控度为优化目标设计飞行器旋翼系统的物理参数，得到最优构型；4）实验验证设计思路的有效性，并在工程中推广应用

本项目自2017年1月开始至2019年12月结束，系统性的研究了多旋翼飞行器的性能评估、构型安全性分析、与正约束下的可控性度量及构型优化设计问题，创新地取得成果如下：.（1）针对多旋翼飞行器构型设计中的惯量积不可忽略等问题，给出了正约束下可控度定义及其计算方法；.（2）针对多旋翼飞行器性能评估问题，构建了多旋翼动力系统各部分的数学模型，该模型将用于飞行器的优化设计；.（3）以飞行器可控度最大化为优化目标，建立了多旋翼飞行器旋翼系统物理参数的优化设计方法，并进一步给出飞行器设计流程与步骤。.（4）项目组成果成功应用在多旋翼飞行器设计网站flyeval（https://flyeval.com/）中，为行业内无人机设计者提供支撑。.综上所述，项目组成员较为完整的完成了既定的研究任务。本项目共发表SCI论文4篇，EI论文3篇。不仅如此，与深圳大疆取得了合作，将理论往实际推进了一步。