| 标 题： |
3-D Flight Performance Simulation of a Liquid-Filled Quadrotor
液态填充四旋翼飞行性能的三维仿真 |
| 作 者： |
Jipeng Li
Ming Cao
Fan Wang
Dengqing Cao
Yishen Tian
Xianglong Su
Jae-Hung Han |
| 关键词： |
Fluid-structure interaction [流固耦合]
Liquid-filled quadrotor [ 带液体的四旋翼飞行器]
Attitude-liquid-control coupling dynamics [ 姿态-液体控制耦合动力学]
Liquid sloshing [ 液体波浪]
Non-inertial SPH [ 非惯性SPH方法] |
| 出版年： |
2025 |
| 期刊名： |
International Journal of Aeronautical and Space Sciences
国际航空与空间科学杂志 |
| 年卷期： |
|
| 摘 要： |
The modeling of a quadrotor with complex internal or external loads is rather important and difficult in terms of ensuring accurate trajectory tracking and strong robustness. This paper mainly studies the dynamics performance of a liquid-filled quadrotor in a 3-D maneuvering flight environment. The non-inertial smoothed particle hydrodynamics (NI-SPH) method is adopted for the precise modeling of the liquid. Derivations for the rigid dynamics model of the quadrotor based on Newton-Euler formulation are also conducted. A multi-scale time stepping iteration method is introduced here for the fluid-structure interaction (FSI) iteration framework. This work enforces the quadrotor's 3-D commanded trajectory and simulates the dynamics performance of the coupled system. Three different types of loads, empty load, constant load, and sloshing load, are systematically compared. Results show that the quadrotor with a sloshing load usually has a higher overshoot compared with the other two cases. The trajectory tracking error in the vertical direction is much smaller than those in horizontal directions. Moreover, the quadrotor with an onboard load damped much faster when it stops to hover, which is because of the gravity angular stiffness. Sloshing effect deteriorates the position and attitude tracking accuracy, which leads to the fluctuation in the speeds of the UAV rotors. The sloshing forces in horizontal and vertical directions are around 20% and 5% of the weight of the whole liquid. These results help to gain a better understanding of the sloshing behaviors and could enlighten researches on slosh suppression methods in future.
在复杂内外载荷作用下，四旋翼飞行器的建模对于实现精确轨迹跟踪和强鲁棒性具有重要意义且难度较大。本文主要研究液态填充四旋翼在三维机动飞行环境中的动力学性能。采用非惯性平滑粒子水动力学（NI-SPH）方法对液体进行精确建模，并基于牛顿-欧拉公式推导了四旋翼刚体动力学模型。同时，文中提出了一种多尺度时间步进迭代法，用于流固耦合（FSI）迭代框架。该工作实现了对四旋翼三维指令轨迹的强制控制，并模拟了耦合系统的动力学性能。系统地对比了三种不同类型的载荷：空载、恒定载荷和摇摆载荷。结果表明，带有摇摆载荷的四旋翼通常比其他两种情况具有更高的超调量。垂直方向上的轨迹跟踪误差明显小于水平方向上的误差。此外，当四旋翼无人机停止悬停时，由于重力角刚度的存在，其内部载荷的阻尼速度会显著加快。液振效应会降低无人机姿态和位置的跟踪精度，从而导致无人机旋翼转速出现波动。水平和垂直方向上的液振力分别约为整个液体重量的20%和5%。这些结果有助于更好地理解液振行为，并为未来液振抑制方法的研究提供参考。 |
| 中文内容为网络AI翻译，专业术语未必准确，仅供参考。 |
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