倾转三旋翼无人机过渡模式纵向姿态控制
发布时间:2018-11-04 09:55
【摘要】:对倾转三旋翼无人机过渡模式下定高转换的纵向姿态控制进行了研究,为提高纵向操纵效能、解决操纵冗余问题,设计了模态转换中的操纵控制方案;采用牛顿-欧拉法对飞机进行动力学建模分析,建立了纵向动力学模型并给出了过渡转换路径;通过操纵效能分析对两种操纵机制进行分配,给出了操纵分配的权重和控制律。仿真和实验样机飞行试验地面站数据分析结果表明,按照所设计的操纵分配方案和控制律对飞机过渡模式进行纵向控制,能够使飞机保持平稳过渡。
[Abstract]:In order to improve the efficiency of longitudinal control and to solve the problem of redundant manipulation, the control scheme of mode conversion is designed in order to improve the longitudinal attitude control of tilting three-rotor UAV in the transition mode. Newton-Euler method is used to model and analyze the dynamics of aircraft, the longitudinal dynamic model is established and the transition path is given, and the weight and control law of the control assignment are given through the control effectiveness analysis. The results of simulation and experimental prototype flight test ground station data analysis show that the aircraft transition mode can be controlled longitudinally according to the designed control allocation scheme and control law, which can make the aircraft maintain a smooth transition.
【作者单位】: 军械工程学院无人机工程系;
【基金】:十二五国防预研项目(51325050101)
【分类号】:V249.1;V279
[Abstract]:In order to improve the efficiency of longitudinal control and to solve the problem of redundant manipulation, the control scheme of mode conversion is designed in order to improve the longitudinal attitude control of tilting three-rotor UAV in the transition mode. Newton-Euler method is used to model and analyze the dynamics of aircraft, the longitudinal dynamic model is established and the transition path is given, and the weight and control law of the control assignment are given through the control effectiveness analysis. The results of simulation and experimental prototype flight test ground station data analysis show that the aircraft transition mode can be controlled longitudinally according to the designed control allocation scheme and control law, which can make the aircraft maintain a smooth transition.
【作者单位】: 军械工程学院无人机工程系;
【基金】:十二五国防预研项目(51325050101)
【分类号】:V249.1;V279
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