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Research Progress and Challenges of Multi-lift Rotorcraft Systems
Authors
何玉庆
张建磊
易奎
韩建达
Publication date
1 January 2021
Publisher
Abstract
多飞行机器人吊运系统是指由多个旋翼飞行机器人、吊绳及负载共同构成的具有空中操作能力的一类新型机电系统,具有灵活性强、地域可达性好、运输便捷、载荷能力强等显著优点. 多飞行机器人吊运系统应用广泛,但是其建模与控制还存在诸多挑战. 旋翼飞行机器人自身是一种复杂的欠驱动非线性系统,随着吊绳和负载的引入,系统的耦合性、欠驱动特性和非线性也会随之增加. 为了全面对多飞行机器人吊运系统的研究进行综述,首先介绍了多飞行机器人吊运系统的常见构型,并对比分析了其优缺点;其次,从动力学建模、协调控制、实验三个方面介绍了多飞行机器人吊运系统的研究现状与挑战;最后,凝练了现存的关键科学问题,对其潜在的应用领域和未来的研究工作进行了探讨与展望.</p
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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Last time updated on 25/11/2020