海洋运动中的四旋翼无人机浮标系统：技术应用与安全功能
本文探讨了结合四旋翼无人机和浮标技术的海洋运动浮标系统，介绍了其在航拍、海洋参数监测、安全警示与救援等方面的应用，展示了技术如何提升海洋运动体验和保障运动者的安全。
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🔥 内容介绍
随着科技的不断发展，无人机技术在各个领域得到了广泛应用。其中，海洋运动是一个逐渐受到人们关注的领域。海洋运动的四旋翼无人机浮标系统是一种创新的技术，它能够为海洋运动爱好者提供更多的便利和安全。
海洋运动的四旋翼无人机浮标系统是一种结合了四旋翼无人机和浮标技术的先进设备。它由四个旋翼、浮标和控制系统组成。这种系统可以通过遥控器或预设的航线进行操控，实现自主飞行和浮标定位。它不仅可以提供航拍功能，还可以实时监测海洋运动的状况，为运动者提供安全警示和救援功能。
首先，海洋运动的四旋翼无人机浮标系统可以为海洋运动爱好者提供更好的航拍体验。通过搭载高清摄像头，这种系统可以拍摄到海洋运动的精彩瞬间。无人机的自主飞行功能使得拍摄更加稳定，可以从不同角度和高度来记录海洋运动的过程。这不仅可以让运动者回顾自己的表现，还可以与他人分享这些精彩瞬间。
其次，海洋运动的四旋翼无人机浮标系统还可以实时监测海洋运动的状况。通过搭载传感器和监测设备，这种系统可以测量海洋的波高、风速、潮汐等参数。这些数据可以通过无线传输到地面控制中心，运动者可以通过手机或电脑查看这些数据，了解海洋的变化情况，以便做出更好的运动决策。
此外，海洋运动的四旋翼无人机浮标系统还具备安全警示和救援功能。当海洋运动者遇到危险情况时，这种系统可以通过声光信号或无线通信向运动者发送警示信息，提醒他们注意安全。同时，系统也可以通过GPS定位和图像识别技术，实时监测运动者的位置和状况，并在必要时向救援机构发送求救信号，以便及时进行救援行动。
海洋运动的四旋翼无人机浮标系统的出现，为海洋运动爱好者带来了更多的便利和安全。它不仅可以提供航拍功能，记录下精彩瞬间，还可以实时监测海洋的状况，提供安全警示和救援功能。相信随着技术的不断发展，这种系统将会越来越普及，为海洋运动爱好者带来更好的体验。
📣 部分代码
T=1/100; % sec, Simulation step time.g = 9.81; % gravity constant (m/s2)%% Initalize:alpha_bar = pi/4; % cable angleV_bar = 5; % desired mean velocity%% Wave characteristics% AWTEC 2016: beirut, H = 2*A = 0.3 m, T = 3.5 s% Wiki: fully developped, H =0.27 m, T = 3 s% Wiki: fully developped, H =1.5 m, T = 5.7 s% Wiki: fully developped, H =4.1 m, T = 8.6 s% Wiki: Interpolate: H =2 m, T = 6.3 snu_w = 1.787*10^-6; % kinematic viscosity of water (m2/s)A_w = 1*1.5/2; % wave height (m)w_dir = 1; % wave direction (1 for 0 deg, -1 for 180 deg)H = 10; % mean water level (m)T_w = 5.7; % wave period (s)omega_w = 2*pi/T_w; % wave circular frequency (rad/s)k_w = omega_w^2/g; % wave number (rad/m)epsilon_w = 0; % random phase angle (rad)C_w = omega_w/k_w; % wave speed (m/s)lambda_w = C_w*T_w; % wave length (m)%A_w2 = 1*0.27/2; % wave height (m)w_dir2 = 1; % wave direction (1 for 0 deg, -1 for 180 deg)H2 = 10; % mean water level (m)T_w2 = 3; % wave period (s)omega_w2 = 2*pi/T_w2; % wave circular frequency (rad/s)k_w2 = omega_w2^2/g; % wave number (rad/m)epsilon_w2 = pi; % random phase angle (rad)%% Water Current:u_t = 0*0.2*1; % tidal current component (m/s)u_w = 0*0.2; % local wind current component (m/s)%% floating buoy: two cylinder shape buoys rigidly connected% the 2 cylinder structure maitain the stability of the buoy% and prevent roll motionrho_w = 1000; % water density (kg/m3)% Cylinder:% R_b = 0.1; % buoy radius (m), cylinder% A_b = pi*R_b^2; % (m^2)% l_b = 0.6; % buoy length (m)% m_b = 5; % (kg)% rho_b = m_b/(A_b*l_b); % buoy density (kg/m3)% J_b = m_b*R_b^2;% A_im = (m_b/2)/rho_w/l_b; % this is only for 1 one of 2 cylinders% theta = fzero(@(theta) R_b^2/2*(theta-sin(theta))-A_im,0);% zeta_im = R_b*(1-cos(theta/2)); % R-H, water surface to buoy tip%% u_s = A_w^2*omega_w*k_w*exp(2*k_w*(-zeta_im/2)); % stocks drift (m/s)%% X0_b = [0,H+R_b-zeta_im];% V0_b = [omega_w*A_w*cos(k_w*X0_b(1)+epsilon_w), 0];% Cuboid:h_b = 0.25; % buoy side (m), cuboidA_b = h_b^2; % (m^2)l_b = 0.8; % buoy length (m)Vol_b = A_b*l_b; % buoy volume (m)% for the buoy to be half immersed:m_b = rho_w*Vol_b/4; % buoy mass (kg)J_b = m_b*h_b*l_b/12;A_im = (m_b)/rho_w/l_b; % immersed frontal area (m^2) (different from whetted area)Delta_h = (A_im/A_b-0.5)*h_b; % z_b-zeta, buoy center above water surfaceu_s = w_dir*A_w^2*omega_w*k_w*exp(2*k_w*(-Delta_h/2)); % stocks drift (m/s)u_s2 = w_dir2*A_w2^2*omega_w2*k_w2*exp(2*k_w2*(-Delta_h/2)); % stocks drift (m/s)Zeta_0 = A_w*sin(epsilon_w) + A_w2*sin(epsilon_w2);X0_b = [0,H+Zeta_0-Delta_h];v_x_w = w_dir*omega_w*A_w*sin(k_w*X0_b(1)+epsilon_w)...+ w_dir2*omega_w2*A_w2*sin(k_w2*X0_b(1)+epsilon_w2);v_z_w = w_dir*omega_w*A_w*cos(k_w*X0_b(1)+epsilon_w)...+ w_dir2*omega_w2*A_w2*cos(k_w2*X0_b(1)+epsilon_w2); % inital wave velocity (m/s)V0_b = [u_t+u_w+u_s+u_s2+v_x_w, v_z_w];%Cd_f =3; % drag%drag_wave = 0.3; % wave lateral drag force (N)a_11 = 0.05*m_b; % added massa_33 = m_b;b_11 = 0; % added dampindomega_h = omega_w;b_33 = 2*m_b*omega_h;C_S = [5;9]*10^-3; % skin friction constantD_s = [4;0.3*3]; % sfkin friction coefficient (viscous)D_x = b_11 + D_s(1); % total drag coefficientD_z = b_33 + D_s(2);%% Cable:Lc_0 = 7; % Cable free length (m)dL_max = 0.0; % maximum cable elongation (m)T_max = 80; % max cable tension (N)Kc = T_max/dL_max; % Cable spring constant (N/m)m_c = 0.5; % Cable mass (kg)alpha_bar_0 = 45*(pi/180);%zq_bar = X0_b(2) + Lc_0*tan(alpha_bar_0)*sqrt(1-cos(alpha_bar_0)^2)zu_bar = X0_b(2) + Lc_0*sin(alpha_bar_0);%% Tension and azimuth control:kp_a = 7; % 10 12kd_a = 7; % 10 7ki_a = 2;kp_T = 5;kd_T = 0.3;ki_T = 0.8;% PID controller:kp_z = 3;kd_z = 2;ki_z = 1;% Outer Loop (Forward/Backward) Controllerkp_x = 7;kd_x = 5; % 5ki_x = 1.2;%% quadrotor:J_u = 0.03; % moment of inertia (kg.m2)m_u = 1.8 ; % quadcopter mass (kg) 1.634K = 20; % motors maximum thrust,each (N) % 20 40L = 0.2; % qadrotor arm length (m)Theta0 = atan2(V_bar*D_x*cos(alpha_bar_0),V_bar*D_x*sin(alpha_bar_0)+m_u*g*cos(alpha_bar_0));%10*pi/180;Tm = 1/15;M_a = m_u*Lc_0 + m_c*Lc_0;J_a = m_u*Lc_0^2 + (m_u*(Lc_0/2)^2+m_u*Lc_0/12);%X0_q = X0_b+ [0,3]; % initial CG position (m)%V0_q = [0,0]; % initial CG velocity (m/s)% LimitsXu_min= [-30 H]; % Window dimensions: min bordersXu_max= [30 20]; % Window dimensions: max bordersLIMIT_CMD_PITCH = 45*pi/180;LIMIT_uCMD_HEIGHT = 3.5*K;LIMIT_CMD_x = 3;% Aerodynamics:rho_a = 1.225; % air density (kg/m^3)% drag coefficient: square:1.05, sphere: 0.47, airfoil: 0.04Cd_u = 0.2;Ac = [0.0331 0.0331 0.05]; % Cross section area of the quadrotor in x,y and z direction (m^2)F_d_max_u = Cd_u*(0.5*rho_a*V_bar^2)*Ac% Gains:% X:%k1 = 3.3;%k2 = 0.58;kp_t = 10; %k1 = 0.3kd_t = 6;%k2 = 30gamma_d_x=0.4;dc_M_x=0.3;% Pitch:k3 = 4.5;%30;k4 = 2;% 0.3;gamma_d_p=2*0.3/0.03*2*0.2*12/4; %k1=14.6dc_M_p=6.7;%motors discrete transfer function:sys=tf(1,[Tm 1]);sysd = c2d(sys,T);Am = sysd.denominator{1};Bm = sysd.numerator{1};% Low pass filter:A_1df = [1/40 1]; % filter for 1 derivativeA_2df = conv([1/40 1],[1/60 1]); % filter for 2 derivativessys=tf(1,A_1df);sysd = c2d(sys,T);Am1_LPF = sysd.denominator{1};Bm1_LPF = sysd.numerator{1};sys=tf(1,A_2df);sysd = c2d(sys,T);Am2_LPF = sysd.denominator{1};Bm2_LPF = sysd.numerator{1};% Z filtersys=tf(1,conv([1/20 1],[1/20 1]));sysd = c2d(sys,T);AmZ_LPF = sysd.denominator{1};BmZ_LPF = sysd.numerator{1};% V_bar filtersys=tf(1,conv([3 1],[3 1])); % 2 5 3sysd = c2d(sys,T);AmV_LPF = sysd.denominator{1};BmV_LPF = sysd.numerator{1};% alpha_dot filtersys=tf(1,conv([1/5 1],[1/5 1]));sysd = c2d(sys,T);AmAlpha_LPF = sysd.denominator{1};BmAlpha_LPF = sysd.numerator{1};%V_bar0 = 20.8;epsilon_1 = 5; % cable tension lower bound (N)epsilon_2 = 0.05*Vol_b;A_whetted = l_b*h_b + 2*l_b*(h_b/4) % averageD_from_C = A_whetted*V_bar0*0.5*rho_w*C_S(1)v_x_w_max = omega_w*A_w;T_bar0 = D_from_C*V_bar0/cos(alpha_bar)V_min = epsilon_1*cosd(alpha_bar)/D_from_C + u_t + v_x_w_maxV_max = (m_b + m_u - epsilon_2*rho_w)*g*tan(Theta0).../D_from_C+u_t+u_w+u_s+u_s2+abs(v_x_w)%% Frequency analysys:A_c = l_b*h_b;D_z0 = 55;V_bar0 = 8.4;omega_b = sqrt((rho_w*g*A_c/(m_b+a_33)));zeta_b = D_z0/(2*sqrt((m_b+a_33)*rho_w*g*A_c));omega_e = omega_w - omega_w^2*V_bar0/g*w_dir;Gb_s = tf(omega_b^2,[1 2*zeta_b*omega_b omega_b^2])% figure(1)% bode(Gb_s)% grid oni=0;for w = 0:0.1:20i = i+1;[mag0,phase,wout] = bode(Gb_s,w); % mag0 is not in dB!mag(i,1) = (mag0); % db2mag(12.1)% 20*log10(2)OMEGA = w/omega_b;mag2(i,1) = (500/rho_w*g*A_c)/sqrt((1 - OMEGA^2)^2+(2*zeta_b*OMEGA)^2);end% w = [0:0.1:20];% figure(2)% hold on% plot(w./omega_b,mag)% plot(w./omega_b,mag2)% grid on% omega_e/omega_b
⛳️ 运行结果
🔗 参考文献
[1]孙成,唐碧蔚,吴慧垚,等.基于Simulink的无人机模拟系统设计[J].航空电子技术, 2017, 48(1):5.DOI:10.3969/j.issn.1007-141X.2017.01.07.
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