多旋翼飞行器的航程、续航时间与最优速度估计
Range, Endurance, and Optimal Speed Estimates for Multicopters
AI总结：
本研究首次提出一种结合叶素动量理论空气动力学模型、电动机模型和灰盒电池模型的方法，用于估计多旋翼飞行器的航程、续航时间和最优飞行速度，并通过实验验证了其高精度，为未来无人机设计提供了实用算法。
摘要：
多旋翼飞行器是最通用的移动机器人之一。其应用涵盖巡检与测绘任务，在灾区提供重要侦察，以及包裹配送。多旋翼飞行器在执行任务时能达到的航程、续航时间和速度，不仅是飞行器设计与任务规划的决定性因素，也是决策者制定飞行机器人法规的重要依据。据作者所知，本研究首次提出了一种估计广泛多旋翼飞行器航程、续航时间和最优飞行速度的方法。这一进展是通过将基于叶素动量理论的先进多旋翼空气动力学第一性原理模型与电动机模型和灰盒电池模型相结合实现的。该模型预测电池单体电压的相对误差仅为1.3%（43.1 mV），即使电池承受非恒定放电率也是如此。我们的方法通过测试台上的真实世界实验以及在世界上最大的动作捕捉系统之一中进行的速度高达65 km/h的飞行得到了验证。我们还提出了一种精确的纸笔算法来估计多旋翼飞行器的航程、续航时间和最优速度，以帮助未来的研究人员构建具有最大航程和续航时间的无人机，确保未来的多旋翼飞行器更加通用。
英文摘要：
Multicopters are among the most versatile mobile robots. Their applications range from inspection and mapping tasks to providing vital reconnaissance in disaster zones and to package delivery. The range, endurance, and speed a multirotor vehicle can achieve while performing its task is a decisive factor not only for vehicle design and mission planning, but also for policy makers deciding on the rules and regulations for aerial robots. To the best of the authors' knowledge, this work proposes the first approach to estimate the range, endurance, and optimal flight speed for a wide variety of multicopters. This advance is made possible by combining a state-of-the-art first-principles aerodynamic multicopter model based on blade-element-momentum theory with an electric-motor model and a graybox battery model. This model predicts the cell voltage with only 1.3% relative error (43.1 mV), even if the battery is subjected to non-constant discharge rates. Our approach is validated with real-world experiments on a test bench as well as with flights at speeds up to 65 km/h in one of the world's largest motion-capture systems. We also present an accurate pen-and-paper algorithm to estimate the range, endurance and optimal speed of multicopters to help future researchers build drones with maximal range and endurance, ensuring that future multirotor vehicles are even more versatile.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
