发现无人机前飞能耗效率在最优速度下恒定，与载重无关。
Enhancing Multirotor Drone Efficiency: Exploring Minimum Energy Consumption Rate of Forward Flight under Varying Payload
- 基于飞行器能量动力学模型，推导出最优速度下的恒定能耗率。
- 实证显示单位质量每米能耗在不同载重下保持不变。
- 适合关注续航优化的无人机控制与任务规划研究者。
多旋翼无人机是广泛应用的飞行器类型，其能量效率直接决定任务航程与持续时间。本研究通过解析与数值分析表明，在最优前飞速度下，单位质量每米飞行能耗这一关键效率指标为常数，与无人机总质量（含载荷）无关。该结论仅在最小能耗对应的最优前飞速度下成立，而非任意速度。研究基于先前建立的多旋翼第一性原理能量动力学模型，关键突破在于证明最优速度下的俯仰角为常数。结合解析推导与验证实验，研究成果为提升多旋翼能量效率提供了关键洞见，有助于设计延长任务时长与航程的飞行控制策略。
原文摘要 · Abstract (English)
Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications. Energy efficiency is a critical aspect of its performance, determining the range and duration of the missions that can be performed. In this study, we show both analytically and numerically that the optimum of a key energy efficiency index in forward flight, namely energy per meter traveled per unit mass, is a constant under different vehicle mass (including payload). Note that this relationship is only true under the optimal forward velocity that minimizes the energy consumption (under different mass), but not under arbitrary velocity. The study is based on a previously developed model capturing the first-principle energy dynamics of the multirotor, and a key step is to prove that the pitch angle under optimal velocity is a constant. By employing both analytical derivation and validation studies, the research provides critical insights into the optimization of multirotor energy efficiency, and facilitate the development of flight control strategies to extend mission duration and range.
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