论文标题
带有往返轨迹的多轨道的流动障碍估计和拒绝策略
A flow disturbance estimation and rejection strategy for multirotors with round-trip trajectories
论文作者
论文摘要
本文介绍了遭受未知流动障碍的多电流的往返策略。在出站航班期间，车辆立即利用反馈控制中的风干扰估计，以减少跟踪误差。在此阶段，还记录了有关该位置的干扰估计，以供将来使用。对于返回飞行，然后通过前馈控制器将先前收集的干扰路由。这里的主要假设是，在同一任务中，骚乱可能会有所不同，但随着时间的流逝不会有所不同。我们通过两种不同类型的风流实验证明了这种前馈策略的有效性。简单的射流流和更复杂的流动。为了用作基线案例，采用了带有额外反馈循环的级联PD控制器进行干扰估计。为了展示我们在额外的进发方法方面的贡献，通过预先记录的数据集成了返回飞行的额外进发pefforwward校正项。与基线控制器相比，观察到前馈控制器在1 m/s的车辆接地速度下，较少的RMSE位置误差少43％，环境风速为6 m/s。这种前馈方法还为复合物流也产生了14％的RMSE位置误差。
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the tracking error. During this phase, the disturbance estimations with respect to the position are also recorded for future use. For the return flight, the disturbances previously collected are then routed through a feedforward controller. The major assumption here is that the disturbances may vary over space, but not over time during the same mission. We demonstrate the effectiveness of this feedforward strategy via experiments with two different types of wind flows; a simple jet flow and a more complex flow. To use as a baseline case, a cascaded PD controller with an additional feedback loop for disturbance estimation was employed for outbound flights. To display our contributions regarding the additional feedforward approach, an additional feedforward correction term obtained via prerecorded data was integrated for the return flight. Compared to the baseline controller, the feedforward controller was observed to produce 43% less RMSE position error at a vehicle ground velocity of 1 m/s with 6 m/s of environmental wind velocity. This feedforward approach also produced 14% less RMSE position error for the complex flows as well.
