通过实验量化气动软臂无人机的下洗效应对推力与臂变形的影响。
Soft Arm-Motor Thrust Characterization for a Pneumatically Actuated Soft Morphing Quadrotor
- 实验分析软臂无人机在气压驱动下的推力-形变关系。
- 发现电机下洗导致软臂变形随机扰动，影响飞行稳定。
- 为可变形软体无人机的实时控制提供关键数据支持。
本文针对一种气动驱动的可变形四旋翼软体无人机，进行了其构型空间的实验表征，重点研究了柔性臂在下洗效应影响下的精确推力特性。与传统四旋翼不同，该软体无人机采用气压驱动臂，导致电机推力与臂体变形之间存在复杂的非线性耦合，使精确控制极具挑战。硅胶材质的柔性臂通过差压实现可调形变，从而具备比固定臂更宽的工作空间。飞行中，臂体在压缩与伸展过程中可动态调控其偏转角度。然而，安装于软臂末端的电机产生的下洗气流会引入显著且随机的扰动，影响臂体期望偏转角及整体系统稳定性。为此，本文开展了下洗效应对臂偏转角影响的实验表征，揭示其作用机制。
原文摘要 · Abstract (English)
In this work, an experimental characterization of the configuration space of a soft, pneumatically actuated morphing quadrotor is presented, with a focus on precise thrust characterization of its flexible arms, considering the effect of downwash. Unlike traditional quadrotors, the soft drone has pneumatically actuated arms, introducing complex, nonlinear interactions between motor thrust and arm deformation, which make precise control challenging. The silicone arms are actuated using differential pressure to achieve flexibility and thus have a variable workspace compared to their fixed counter-parts. The deflection of the soft arms during compression and expansion is controlled throughout the flight. However, in real time, the downwash from the motor attached at the tip of the soft arm generates a significant and random disturbance on the arm. This disturbance affects both the desired deflection of the arm and the overall stability of the system. To address this factor, an experimental characterization of the effect of downwash on the deflection angle of the arm is conducted.
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