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一种用于开发工程教育平台的模块化多旋翼无人机设计方法。

A Modular Multirotor Unmanned Aerial Vehicle Design Approach for Development of an Engineering Education Platform.

机构信息

Department of Mechanical Engineering, Karlovac University of Applied Sciences, 47000 Karlovac, Croatia.

Department of Technology, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, 10000 Zagreb, Croatia.

出版信息

Sensors (Basel). 2021 Apr 13;21(8):2737. doi: 10.3390/s21082737.

DOI:10.3390/s21082737
PMID:33924495
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8070411/
Abstract

The development of multirotor unmanned aerial vehicles (UAVs) has enabled a vast number of applications. Since further market growth is expected in the future it is important that modern engineers be familiar with these types of mechatronic systems. In this paper, a comprehensive mathematical description of a multirotor UAV, with various configuration parameters, is given. A modular design approach for the development of an educational multirotor platform is proposed. Through the stages of computer-aided design and rapid prototyping an experimental modular multirotor (EMMR) platform is presented. Open-source control system and a novel EMMR enable students to create and test control algorithms for various multirotor configurations. The presented EMMR platform is suitable for students to expand their educational objectives in aerial robotics and control theory.

摘要

多旋翼无人机（UAV）的发展带来了大量的应用。由于未来市场预计会进一步增长，所以现代工程师熟悉这些类型的机电一体化系统非常重要。本文给出了具有各种配置参数的多旋翼无人机的全面数学描述。提出了一种用于开发教育多旋翼平台的模块化设计方法。通过计算机辅助设计和快速原型制作的阶段，提出了一个实验性模块化多旋翼（EMMR）平台。开源控制系统和新颖的 EMMR 使学生能够为各种多旋翼配置创建和测试控制算法。所提出的 EMMR 平台适合学生扩展他们在航空机器人和控制理论方面的教育目标。

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