变推力轴线无人机的混合姿态控制

Hybrid Attitude Control for Variable Thrust Axis Based UAV

为提高无人机的自主飞行性能,提出了一种气动舵面偏转控制与推力偏转控制相结合的混合姿态控制方法。给出了推力可偏转情况下的飞机总外力和外力矩。讨论了总外力的变化对飞行机动性的影响,分析了推力力矩对气动力矩的操纵补偿效率。在常规无人机姿态控制系统的基础上,引入纵横向推力偏转角作为新的控制量,设计了飞行姿态控制系统的混合控制模式。对受气流干扰下的无人机姿态稳定控制进行仿真研究。结果表明,变推力轴线技术能够改善飞机在强气流干扰下的操稳特性,减小飞行姿态角偏差和气流角偏差,且对操纵舵面效率不足的问题具有补偿作用。

In order to improve the autonomous flight performance of a unmanned aerial vehicle（UAV）,an attitude control method combining the aerodynamic control surface deflection control and the thrust deflection control is presented here.The total force and moment of the variable thrust axis based UAV are given.The impact of the changed total force on the flight maneuverability is discussed,and the control compensation efficiency of the thrust moment is analyzed.Based on the traditional attitude control system,two thrust deflection angles are introduced as the new control variables,and a hybrid control mode of the flight attitude control system is designed.Simulations of the UAV attitude stabilization control with airflow interferences are done.The results show that the variable thrust axis technology can improve the stability and controllability of a UAV under the strong airflow interference,decrease the flight attitude angles and airflow angle errors,and compensate the inadequate efficiency of the control surfaces.