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多飞行机器人吊运系统研究进展及挑战
Alternative TitleResearch Progress and Challenges of Multi-lift Rotorcraft Systems
易奎1,2,3; 张建磊4; 何玉庆1,2; 韩建达4,5
Department机器人学研究室
Source Publication信息与控制
ISSN1002-0411
2021
Volume50Issue:1Pages:65-74
Contribution Rank1
Funding Organization国家自然科学基金资助项目(91848203,91648204,91748130) ; 国家重点研发计划资助项目(2018YFC08100)
Keyword多飞行机器人 欠驱动系统 动力学建模 协调控制 多机吊运 空中操作
Abstract

多飞行机器人吊运系统是指由多个旋翼飞行机器人、吊绳及负载共同构成的具有空中操作能力的一类新型机电系统,具有灵活性强、地域可达性好、运输便捷、载荷能力强等显著优点. 多飞行机器人吊运系统应用广泛,但是其建模与控制还存在诸多挑战. 旋翼飞行机器人自身是一种复杂的欠驱动非线性系统,随着吊绳和负载的引入,系统的耦合性、欠驱动特性和非线性也会随之增加. 为了全面对多飞行机器人吊运系统的研究进行综述,首先介绍了多飞行机器人吊运系统的常见构型,并对比分析了其优缺点;其次,从动力学建模、协调控制、实验三个方面介绍了多飞行机器人吊运系统的研究现状与挑战;最后,凝练了现存的关键科学问题,对其潜在的应用领域和未来的研究工作进行了探讨与展望.

Other Abstract

Multi-lift rotorcraft systems consist of multiple rotorcrafts, cables, and a single suspended load, which are a new kind of mechatronic systems with the ability of aerial manipulation. The systems are excellent because of their good flexibility, the ability of reaching remote places, convenience and transportation ability. Multi-lift rotorcraft systems are wildly applied to engineering practice, but there exist many problems in terms of their control. Multi-lift rotorcraft systems are underactuated and nonlinear. Because of the existence of cables and the load, the systems become more and more underactuated and nonlinear. To give a review of the research progress and challenges of multi-lift rotorcraft systems, firstly, we introduce the configurations, and analyze their advantages and disadvantages. Secondly, we outline the hot issues such as dynamic modeling, coordinated control, and experiments of multi-lift rotorcraft systems. Finally, we analyse the major problems, as well as development tendencies of multi-lift rotorcraft systems, and point out the future work.

Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27723
Collection机器人学研究室
Corresponding Author韩建达
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.南开大学人工智能学院
5.南开大学天津市智能机器人技术重点实验室
Recommended Citation
GB/T 7714
易奎,张建磊,何玉庆,等. 多飞行机器人吊运系统研究进展及挑战[J]. 信息与控制,2021,50(1):65-74.
APA 易奎,张建磊,何玉庆,&韩建达.(2021).多飞行机器人吊运系统研究进展及挑战.信息与控制,50(1),65-74.
MLA 易奎,et al."多飞行机器人吊运系统研究进展及挑战".信息与控制 50.1(2021):65-74.
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