Abstract
This article researches the improvement of dynamics stability of the ducted fan unmanned aerial vehicles by optimizing its mechanical–structure parameters. The instability phenomenon of ducted fan unmanned aerial vehicles takes place frequently due to the complicated airflow in near-earth space, which easily leads to the stability problems, such as out of control, shaking, and loss accuracy of command tracking. The dynamics equations mirror its dynamics characteristics, which are primarily influenced by the mechanical–structure parameters of the whole system. Based on this, the optimization of mechanical–structure parameters has a significant to improve the dynamics stability of the whole system. Therefore, this article uses the concept of Lyapunov exponents to build the quantification relationship between system’s mechanical–structure parameters and its motion stability to enhance its stability from viewpoint of mechanical–structural parameter design. The takeoff, landing, and hovering stage are respectively studied and the conclusions suggest that the optimization of mechanical–structure parameters can be used to promote dynamics stability.
Highlights
In recent years, due to their small sizes, compact layout, and strong maneuverability, the ducted fan unmanned aerial vehicles (UAVs) are regarded as great candidates to perform atmospheric sounding, goods delivery, and other flight tasks.[1,2] owing to the atmospheric disturbances, gyroscopic effects, and other unpredictable factors, the ducted fan UAVs are subject to shaking and other dynamics stability problem.[3,4,5] it is important to study its variable–structure parameters to enhance the dynamics stability of the ducted fan UAVs.Currently, there are two major methods in the control theory
This article uses the concept of Lyapunov exponents to build the quantification relationship between system’s mechanical–structure parameters and its motion stability to enhance its stability from viewpoint of mechanical–structural parameter design
The second is represented by Lyapunov (1892) who published the famous PhD dissertation on general movement stability problems, which marked a new epoch in motion stability studies
Summary
Due to their small sizes, compact layout, and strong maneuverability, the ducted fan unmanned aerial vehicles (UAVs) are regarded as great candidates to perform atmospheric sounding, goods delivery, and other flight tasks.[1,2] owing to the atmospheric disturbances, gyroscopic effects, and other unpredictable factors, the ducted fan UAVs are subject to shaking and other dynamics stability problem.[3,4,5] it is important to study its variable–structure parameters to enhance the dynamics stability of the ducted fan UAVs. There are no general and constructive methods for deriving Lyapunov functions for nonlinear systems. International Journal of Advanced Robotic Systems nonlinear dynamical system, which is the concept of Lyapunov exponents (LEs).[6] LEs can be described as the average exponential rates of divergence or convergence of nearby orbits in the state space, which can imply system’s stability. The model can be generated in the form of Poincare’s equation in this case[18]
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