Nonlinear Adaptive Lift Control Of A Variable-Pitch Quadrotor With Optimum Power Consumption*

摘要

The problem of lift control law design for an electric-driven variable-pitch quadrotor enabling optimization of power consumption is addressed. The mathematical model of the electric variable-pitch propeller is first presented and the optimal blade pitch and rotational speed curve is investigated. Since the armature voltage is used to adjust the rotational speed and in turn generates the lift, the rotor speed control problem is then dealt with by means of nonlinear adaptive methods. The implementation is also considered. Based on the nonlinear controller, the overall adaptive lift control scheme is developed. The feasibility of the proposed controller is comparatively demonstrated by the test results.