真实大气条件下的四旋翼飞行仿真
Quad-rotor Flight Simulation in Realistic Atmospheric Conditions
摘要：
在无人驾驶飞行器的轨迹规划和控制设计中，高度简化的模型通常用于表示飞行器动力学和操作环境。这项工作的目标是在低空（<500米）大气条件下对四旋翼飞行器进行实时但逼真的飞行模拟和轨迹规划。转子性能的空气动力学模型是根据叶素动量理论改编的，并根据实验数据进行了验证。大气边界层的大涡模拟用于精确地表示无人机的操作环境。大气边界层数据的降阶版本以及流行的Dryden模型用于评估风场模型的准确性对预测的飞行器性能和轨迹的影响。风模型，空气动力学和控制模块集成到一个六自由度的飞行仿真环境与一个完全非线性的飞行控制器。对两种有代表性的航迹，即直线航迹和圆形航迹进行了仿真。不同的风模型的结果进行了比较，并讨论了简化的假设在代表转子空气动力学的影响。模拟框架和代码是开源的，供社区使用。
英文摘要：
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic flight simulations and trajectory planning for quad-copters in low altitude (<500m) atmospheric conditions. The aerodynamic model for rotor performance is adapted from blade element momentum theory and validated against experimental data. Large-eddy simulations of the atmospheric boundary layer are used to accurately represent the operating environment of unmanned air vehicles. A reduced-order version of the atmospheric boundary layer data as well as the popular Dryden model are used to assess the impact of accuracy of the wind field model on the predicted vehicle performance and trajectory. The wind model, aerodynamics and control modules are integrated into a six-degree-of-freedom flight simulation environment with a fully nonlinear flight controller. Simulations are performed for two representative flight paths, namely, straight and circular paths. Results for different wind models are compared and the impact of simplifying assumptions in representing rotor aerodynamics is discussed. The simulation framework and codes are open-sourced for use by the community.
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