研究多旋翼飞行器间下洗气流影响，提升密集环境协同飞行能力
Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems
- 通过力/力矩测量与粒子图像测速分析下洗流特性
- 揭示单机与双机配置下的气动干扰规律
- 为紧凑编队控制和飞行性能优化提供数据支持
在近距离协同飞行中，多旋翼系统面临复杂的空气动力学相互作用，尤其是下洗效应会引发飞行器失稳并降低性能。传统方法依赖保守的避障区域策略，限制了系统在密集环境中的应用。本文通过实验数据，全面分析了单机与多机配置下的下洗效应，利用力/力矩测量刻画飞行器间相互作用，结合粒子图像测速（PIV）量化单机及双机状态下的下洗尾流空间特征。该数据可支持物理驱动的协同控制策略设计，实现对下洗效应的主动利用，拓展飞行器操作边界，提升多旋翼系统在复杂环境中的鲁棒性与效率。
原文摘要 · Abstract (English)
Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally, multi-quadrotor systems rely on conservative strategies, such as collision avoidance zones around the robot volume, to circumvent this effect. This restricts their capabilities by requiring a large volume for the operation of a multi-quadrotor system, limiting their applicability in dense environments. This work provides a comprehensive, data-driven analysis of the downwash effect, with a focus on characterizing, analyzing, and understanding forces, moments, and velocities in both single and multi-quadrotor configurations. We use measurements of forces and torques to characterize vehicle interactions, and particle image velocimetry (PIV) to quantify the spatial features of the downwash wake for a single quadrotor and an interacting pair of quadrotors. This data can be used to inform physics-based strategies for coordination, leverage downwash for optimized formations, expand the envelope of operation, and improve the robustness of multi-quadrotor control.
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