Research On The Theory Of Some Key Technologies Of Spherical Aerial Vehicle

Spherical aerial vehicle combines the rolling motion characteristics of the spherical mobile robot and unmanned aerial vehicle’s characteristics of flight and vertical take-off and landing (VTOL), and it has diversified the motion modes of spherical robot. So it has a broad application prospect in the fields of industry, agriculture and national defense. It is significantly different from unmanned aerial vehicle (UAV) and spherical mobile robot because of its unique structure, and it can realize not only flying in the air with six degrees of freedom, but also rolling freely on the ground. It makes the research work of the flight dynamics analysis, the theory of ground motion, control methods and techniques more challenging. Therefore, this thesis studies the structure design, motion analysis and control method of the spherical aerial vehicle. The main contents are as follows:(1) A new spherical aerial vehicle’s configuration is analyzed and designed. The design requirements are provided, and the advantages of spherical shell are analyzed. Based on motion principle of the spherical rolling robot and VTOL UAV, a new configuration of spherical aerial vehicle is designed. By combining the two movement pattern effectively, it completes the spherical aerial vehicle’s configuration design. Then, the conversions of the two motion modes are analyzed. The design index is given from the application of spherical aerial vehicle. And based on the above design index, each important part of the spherical aerial vehicle is analyzed in detail. Power system on the flight of the spherical robot is designed and analyzed. Taking into account the protective effect of the spherical aerial vehicle’s carbon fiber meshed shell on the internal device, the deformation of the carbon fiber shell is calculated and analyzed, and simulation and experiment of the meshed shell verifies the theory.(2) The attitude control of spherical aerial vehicle’s flight movement is researched. Firstly, the coordinate system of the spherical aerial vehicle’s flight motion is defined, and the kinematics equations and dynamics equations are presented. The flight attitude control of the spherical aerial vehicle’s rudder based on the double closed loop control theory is researched, and the experiment validates the control method. Secondly, the effect of the gravity center’s change on the flight attitude is analyzed, and based on the simplified structure, the dynamic model of Lagrange equation is presented, and the variable structure sliding mode attitude control method is researched, then the simulation and experiment verifies the corresponding control method and conclusion. Finally, the impact of the meshed shell on the vehicle’s lift is analyzed, and the conclusion is reached based on simulation and experiment.(3) Spherical aerial vehicle’s rolling motion is researched. Firstly, the establishment of spherical aerial vehicle’s forward motion dynamics model is analyzed. The model of the meshed shell rolling on the ground is analyzed. According to the gravity pendulum control ground motion model of the robot, motion control method based on feedback linearization Forward is studied, and the simulation and experiment of the control is performed. Then the model for ground rolling motion on propellers and long axis motor is established, and the LQR control method is designed. And simulation and experiment is carried out. Then the model for ground rolling motion on propellers and long axis motor is established, and the LQR control method is designed. And simulation and experiment is carried out.(4) The flight motion control of spherical aerial vehicle under the constraint condition is researched. Two kinds of motion environment are analyzed and modeled:with horizontal surface and with vertical wall. Through the analysis of these two kinds of environment, the robust control theory of the motion state is researched and experiment based on the control method verifies the effectiveness of the method. To analyze of spherical aerial vehicle’s hovering flight, backstepping control in hover flight motion is researched in detail, and through the simulation and experiment, the backstepping control of spherical aerial vehicle’s flight in hover is verified.In this paper, from the configuration, model and motion control theoryspherical aerial vehicle is resarched in-depth, and the research results provide a theoretical basis and technical reference for robot with bothrolling motion and flight motion, and have a guiding significance on the development of robot with multi-motion.