气动敏捷性:面向螺旋桨驱动飞行器的阻力感知气动可操作性 / Aero-Promptness: Drag-Aware Aerodynamic Manipulability for Propeller-driven Vehicles
1️⃣ 一句话总结
这篇论文提出了一种新的几何框架,通过考虑电机扭矩极限和空气阻力,为多旋翼飞行器设计了一种能自动避免电机饱和并优化推力分配的控制策略。
This work introduces the Drag-Aware Aerodynamic Manipulability (DAAM), a geometric framework for control allocation in redundant multirotors. By equipping the propeller spin-rate space with a Riemannian metric based on the remaining symmetric acceleration capacity of each motor, the formulation explicitly accounts for motor torque limits and aerodynamic drag. Mapping this metric through the nonlinear thrust law to the generalized force space yields a state-dependent manipulability volume. The log-determinant of this volume acts as a natural barrier function, strictly penalizing drag-induced saturation and low-spin thrust loss. Optimizing this volume along the allocation fibers provides a redundancy resolution strategy inherently invariant to arbitrary coordinate scaling in the generalized-force space. Analytically, we prove that the resulting optimal allocations locally form smooth embedded manifolds, and we geometrically characterize the global jump discontinuities that inevitably arise from physical actuator limits and spin-rate sign transitions.
气动敏捷性:面向螺旋桨驱动飞行器的阻力感知气动可操作性 / Aero-Promptness: Drag-Aware Aerodynamic Manipulability for Propeller-driven Vehicles
这篇论文提出了一种新的几何框架,通过考虑电机扭矩极限和空气阻力,为多旋翼飞行器设计了一种能自动避免电机饱和并优化推力分配的控制策略。
源自 arXiv: 2603.07998