Research On Power/propulsion Control Technology Of Electrical-driving Rotor Systems

The small size of MAVs can permit them to be uniquely agile.They are becoming popular in military and civil fields because of providing an eye in the sky to support a variety of applications,such as investigation,urban search and rescue.A novel propeller architecture which allows a single motor and rotor to express such control by modulating the moment has been introduced in this paper.What we focused on is the key technology encountered in the design and principle control of the system.Although the researchers at the University of Pennsylvania have integrated the swashplateless device into a coaxial helicopter,so far,there is no more analysis of the mechanism which makes great difficulties to carry out scientific structure and performance optimization.In this thesis,a reliable and precise mathematical model is set up to reveal the mechanism of the swashplateless rotor,and the mechanism of blade cyclic pitch.The specific contents of this article are as follows:Firstly,the structural design of the swashplateless rotor is discussed.By comparing with the traditional helicopter control mechanism,the basic mechanism of the device is discussed.What’s more,the prototype and corresponding integrated measurement environment are built.Secondly,analysis of the body structure with inclined hinge rotor is demonstrated.The kinematics model was established by using the D-H.Then,the nonlinear dynamics model was founded,based on which,the characteristics of the power / propulsion system are further analyzed,and the necessity of the speed control is discussed.Thirdly,starting with the mathematical model of the blade attitude movement and the rotor speed,the small deviation method is used to linearize the full nonlinear model,we can get the attitude change of the rotor blade with oblique hinge rotor system at different rotational speeds and accelerations,and then the influence of rotor characteristic parameters on the performance of the rotor system is quantitatively analyzed.At the same time,the transient response characteristics and steady state characteristics of the rotor moment can be further studied,and the control law of the skew hinge rotor can be given.Finally,the experiment related to the dynamic system model is designed.The research platform is used to verify the validity of the thrust mechanism and the correctness of the mathematical model.