混合无人机过渡机动的建模、规划与控制
Modeling, Planning, and Control for Hybrid UAV Transition Maneuvers
AI总结：
针对尾座式混合垂直起降无人机缺乏通用高效控制及闭式过渡机动设计方法的问题，本文调研现有建模仿真方法，尝试用非线性动态模型设计恒高连续俯仰过渡机动，明确了障碍并提出新思路，为后续研究奠定基础。
摘要：
小型无人机（UAV）已成为民用和国防领域侦察与测量的标准工具。未来，无人机很可能在自主包裹配送中发挥关键作用，但当前的多旋翼候选机型能效较差，导致续航时间和航程不足。为了在保持必要悬停能力的同时降低包裹配送无人机的功率需求，亚马逊等公司正在试验混合式垂直起降（VTOL）平台。与其他混合式垂直起降构型相比，尾座式垂直起降（tailsitter VTOL）提供了一种机械结构简单且经济高效的解决方案；尽管硬件和微电子技术的进步已针对包裹配送场景优化了尾座式无人机，但其运行背后的软件在很大程度上仍是行业采用的关键障碍。目前，尾座式无人机缺乏一种通用、计算高效的控制方法，无法在整个飞行域内提供强安全性和鲁棒性保证。此外，尾座式无人机缺乏一种闭式方法来设计悬停与巡航之间动态可行的过渡机动。在本文中，我们调研了目前在小型尾座式无人机上实现的建模与控制方法，并尝试利用非线性动态模型设计在恒定高度下物理可实现、俯仰连续的过渡机动。本文的主要结果明确了恒定高度过渡的潜在障碍，并提出了一种绕过这些障碍的新方法。虽然初步结果未能提供可行的过渡方案，但这项工作为未来设计安全、鲁棒且计算高效的新型过渡机动奠定了基础。
英文摘要：
Small unmanned aerial vehicles (UAVs) have become standard tools in reconnaissance and surveying for both civilian and defense applications. In the future, UAVs will likely play a pivotal role in autonomous package delivery, but current multi-rotor candidates suffer from poor energy efficiency leading to insufficient endurance and range. In order to reduce the power demands of package delivery UAVs while still maintaining necessary hovering capabilities, companies like Amazon are experimenting with hybrid Vertical Take-Off and Landing (VTOL) platforms. Tailsitter VTOLs offer a mechanically simple and cost-effective solution compared to other hybrid VTOL configurations, and while advances in hardware and microelectronics have optimized the tailsitter for package delivery, the software behind its operation has largely remained a critical barrier to industry adoption. Tailsitters currently lack a generic, computationally efficient method of control that can provide strong safety and robustness guarantees over the entire flight domain. Further, tailsitters lack a closed-form method of designing dynamically feasible transition maneuvers between hover and cruise. In this paper, we survey the modeling and control methods currently implemented on small-scale tailsitter UAVs, and attempt to leverage a nonlinear dynamic model to design physically realizable, continuous-pitch transition maneuvers at constant altitude. Primary results from this paper isolate potential barriers to constant-altitude transition, and a novel approach to bypassing these barriers is proposed. While initial results are unsuccessful at providing feasible transition, this work acts as a stepping stone for future efforts to design new transition maneuvers that are safe, robust, and computationally efficient.
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。
