发表机构
University of Twente; Sapienza University of Rome（特文特大学; 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
本研究提出一种嵌套推进功率模型序列，从气动耗散逐步引入可逆动能率、转矩相关机电耗散及速度比例耗散，通过实验辨识与验证，发现转矩平方耗散是动态预测的关键改进，为多旋翼动态功率建模提供可验证基础。
AI 中文摘要
仅基于速度的多旋翼推进气动功率模型无法表征与加速度相关的效应。本研究开发了一个嵌套的推进功率模型序列，该序列从气动功率耗散出发，逐步引入可逆动能变化率、与转矩相关的机电耗散以及集总的与速度成比例的耗散。这些模型使用一组实验数据进行辨识，并在另一组实验数据上对电机-驱动器-螺旋桨单元进行验证。转动惯量和气动阻力的独立估计通过评估模型是否正确地将实测功率归因于可逆动能交换和不可逆耗散，以及在后者中归因于气动和机电损耗，来补充预测性验证。结果表明，可逆动能变化率对于准确的动态功率预测是必要但不充分的。与电机转矩平方成比例的耗散提供了主要的额外改进，而与速度成比例的耗散进一步防止了不可逆损耗被错误地归因于可逆动能交换。所提出的方法论为多旋翼系统动态推进功率模型的开发和选择提供了可重用且可实验验证的基础。
英文摘要
Speed-only aerodynamic power models for multirotor propulsion cannot represent acceleration-dependent effects. This work develops a nested sequence of propulsion-power models that starts from aerodynamic power dissipation and progressively introduces a reversible kinetic-energy rate, torque-dependent electromechanical dissipation, and lumped speed-proportional dissipation. The models are identified using one subset of experiments and validated using the other on a motor-drive-propeller unit. Independent estimates of rotational inertia and aerodynamic drag complement predictive validation by assessing whether the models correctly attribute the measured power to reversible kinetic-energy exchange and irreversible dissipation and, within the latter, to aerodynamic and electromechanical losses. The results show that the reversible kinetic-energy rate is necessary but insufficient for accurate dynamic power prediction. Dissipation proportional to the squared motor torque provides the main additional improvement, while speed-proportional dissipation further prevents irreversible losses from being attributed to reversible kinetic-energy exchange. The resulting methodology provides a reusable and experimentally verifiable basis for developing and selecting dynamic propulsion-power models for multirotor systems.
