用改进的气动模型实现小型多旋翼推力精准控制，免去繁琐标定。
A Generalized Thrust Estimation and Control Approach for Multirotors Micro Aerial Vehicles
- 基于叶片元动量理论构建闭环推力估计算法
- 仅需一次简易实验即可获得高精度推力预测
- 适用于飞行中气动条件变化大的场景，适合无人机研发者
本文针对小型多旋翼无人飞行器（UAV）的旋翼推力估计与控制问题提出新方法。传统方法采用简化的二次模型估算转速与推力关系，但在非悬停飞行条件下误差显著。本文基于叶片元动量理论（BEMT），设计了一种新型闭环推力估计算法，避免了复杂参数标定过程。通过一次简单的试验台测试，仅需调整一个缩放系数，即可使推力估计值逼近真实值。为实现精确控制，每旋翼配置前馈PID控制器，并在两个平台（250mm和500mm）上完成外场验证。统计分析表明，该方法在气动条件多变的飞行中比二次模型更具鲁棒性。
原文摘要 · Abstract (English)
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges for robust control of quadrotors. The most common approach is to approximate the mapping of rotor speed to thrust with a simple quadratic model. This model is known to fail under non-hovering flight conditions, introducing errors into the control pipeline. One of the approaches to modeling the aerodynamics around the propellers is the Blade Element Momentum Theory (BEMT). Here, we propose a novel BEMT-based closed-loop thrust estimator and control to eliminate the laborious calibration step of finding several aerodynamic coefficients. We aim to reuse known values as a baseline and fit the thrust estimate to values closest to the real ones with a simple test bench experiment, resulting in a single scaling value. A feedforward PID thrust control was implemented for each rotor, and the methods were validated by outdoor experiments with two multirotor UAV platforms: 250mm and 500mm. A statistical analysis of the results showed that the thrust estimation and control provided better robustness under aerodynamically varying flight conditions compared to the quadratic model.
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