发表机构
University of Twente; Sapienza University of Rome（特温特大学; 罗马第一大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究揭示双向螺旋桨反推力的固有执行器限制，推导有界电机输入下的推力轨迹可复现条件，通过实验验证反推力阶次对电流、电压及推力跟踪的影响。
AI 中文摘要
双向螺旋桨常被视为带符号的推力源，但其推力是转子转速的带符号二次函数，反推力必然通过零转子转速实现，此时有界电机转矩改变推力的能力会受阻。本研究通过在有界电机输入下研究精确推力轨迹的可复现性，正式阐明这一阻碍。推导了零推力处输入增益消失的归一化推力坐标模型，基于期望推力轨迹零交叉阶次证明了必要且充分的可复现性条件。其中，以非零斜率穿过零点的推力反推力，需要无界电机输入；所得条件为设计避免电机奇异的推力反推力提供了直接规则。还推导了驱动双向螺旋桨的直流电机对应的电流和电压正则性要求。在电机-螺旋桨装置上开展的实验验证了预测的反推力阶次效应：线性反推力会出现局部电流/电压峰值和推力跟踪退化，而高阶反推力则不会。本研究结果揭示了一种固有的执行器级限制，必须在无人机的力、加速度和交互控制参考中加以考虑。
英文摘要
Bidirectional propellers are often treated as signed thrust sources, but their thrust is a signed-quadratic function of rotor speed.Thus, thrust reversal necessarily occurs through zero rotor speed, where the ability of a bounded motor torque to change thrust collapses.This work formalizes this obstruction by studying exact thrust-trajectory reproducibility under bounded motor inputs with prescribed smoothness.We derive a normalized thrust-coordinate model with vanishing input gain at zero thrust, and prove necessary and sufficient reproducibility conditions in terms of the zero-crossing order of the desired thrust.Generic reversals, in which thrust crosses zero with nonzero slope, require unbounded motor input; the resulting conditions provide direct design rules for shaping thrust reversals that avoid singular motor commands.We also derive the corresponding current and voltage regularity requirements for a DC motor driving a bidirectional propeller.Experiments on a motor-propeller setup validate the predicted reversal-order effects, showing localized current/voltage peaks and thrust-tracking degradation for linear reversals, but not for higher-order reversals.These results expose an intrinsic actuator-level limitation that must be considered in force, acceleration, and interaction-control references for aerial robots.
