微型高机动共轴无人机操纵机构及控制算法研究进展

doi:10.3901/JME.2025.17.001

摘要/Abstract

摘要： 微型共轴无人机因其独特的结构和性能优势，在各种复杂环境中表现出色，尤其是在执行高复杂度和狭小空间内的任务，例如军事侦察、灾害救援等领域。对微型高机动共轴无人机的操纵机构和飞行控制算法的研究现状与进展进行了全面综述。在操纵机构方面，介绍了倾斜盘、重心偏置、下置舵片、电机周期控制和电磁线圈驱动等操纵机构的调姿原理和设计特点，并对比了它们的尺寸参数及主要特征。在飞行控制算法方面，阐述了传统控制方法和先进控制方法的原理及应用。最后分析了微型无人机的发展特点及未来趋势，并对未来趋势进行了展望，指出多种操纵系统的融合协同工作将是未来发展方向，以满足日益多样化和复杂化的任务需求。

关键词: 微型共轴无人机, 操纵机构, 控制算法, 高机动性, 研究进展

Abstract: Micro coaxial unmanned aerial vehicles perform well in various complex environments due to their unique structure and performance advantages, especially in executing tasks with high complexity and confined spaces, such as military reconnaissance, disaster rescue, and other fields. Therefore, the research status and progress of the control mechanism and flight control algorithm of micro high-mobility coaxial UAV are reviewed. In terms of the manipulation mechanism, the attitude adjustment principle and design characteristics of the manipulation mechanism, such as tilt disk, center of gravity offset, lower rudder blade, motor cycle control and electromagnetic coil drive, are introduced, and their size parameters and main characteristics are compared. In terms of flight control algorithms, the principles and applications of traditional control methods and advanced control methods are expounded. Finally, the development characteristics and future trends of micro-UAV are analyzed, and the future trends are prospected, and it is pointed out that the integration and cooperation of multiple manipulation systems will be the future development direction to meet the increasingly diverse and complex task requirements.

Key words: micro coaxial UAV, manipulation mechanism, control algorithm, high mobility, research progress

中图分类号:

V271

黄文清, 刘彦伟, 李江超, 李鹏阳, 李淑娟. 微型高机动共轴无人机操纵机构及控制算法研究进展[J]. 机械工程学报, 2025, 61(17): 1-14.

HUANG Wenqing, LIU Yanwei, LI Jiangchao, LI Pengyang, LI Shujuan. Research Progress on Control Mechanism and Control Algorithm of Micro High-mobility Coaxial UAV[J]. Journal of Mechanical Engineering, 2025, 61(17): 1-14.

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