发表机构
CSIRO Robotics, DATA61, CSIRO（联邦科学与工业研究组织机器人部数据61组）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对多旋翼飞行器受阵风等干扰影响飞行控制的问题，提出用称重传感器直接测量旋翼瞬时力并实施高速控制的新方法，经实验验证了该方法在复杂空气动力学现象下的可行性与有效性。
AI 中文摘要
阵风干扰、动态垂直气流和地面效应是关键的不利空气动力学现象，会导致作用在多旋翼飞行器上的力发生变化并使其飞行控制复杂化。微型旋翼机通常依靠此类效应的简化模型来计算推力调整以抵消这些力。在最基本的情况下，干扰力估计是从飞行器的运动中得出的，并且假设产生的推力与控制器要求的推力完全匹配。然而，此类系统依赖于飞行器的轨迹在干扰被感知和补偿之前受到影响。过去15到20年提出的众多方法旨在更快地抑制外部干扰，但挑战仍然存在。本文提出了一种新方法，通过使用称重传感器直接在产生点测量旋翼的瞬时力，并实施高速控制以精确跟踪所需推力。称重传感器的测量以前被认为噪声太大，无法提供有意义的输入，但本文使用由低成本商品组件制成的专用硬件在单旋翼和双旋翼跷跷板模型以及飞行中的飞行器上进行的实验证明了该方法在存在复杂空气动力学现象时的可行性和有效性。
英文摘要
Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce variations in the forces acting on a multirotor and complicate its flight control. Miniature rotorcraft typically rely on simplified modelling of such effects to compute adjustments in thrust to counteract these forces. In the most basic case, disturbance force estimations are derived from the aircraft's motion and the generated thrust is assumed to exactly match that requested by the controller. However, such systems rely on the aircraft's trajectory to be affected before disturbances can be sensed and compensated. Numerous approaches presented over the last 15-20 years aim to reject external disturbances more quickly, but challenges remain. This paper presents a new approach in this category by measuring the instantaneous force of the rotors directly at the point of generation using load-cells and implementing high-speed control to accurately track the desired thrust. Measurements from load-cells were previously considered too noisy to provide meaningful input, but the experiments presented in the paper using purpose-built hardware from low-cost commodity components in single- and dual rotor see-saw models and a flying aircraft demonstrate both the feasibility and the effectiveness of the approach in the presence of complex aerodynamic phenomena.
