方向舵有限卡死下无人机螺旋运动的遏制与改出

Containing and Recovering the Spiral Motion of Unmanned Aerial Vehicle with the Limited Deadlocking of Rudder

无人机在飞行过程中,由于方向舵卡死引起横向稳定性与航向稳定性改变,容易步入螺旋而导致尾旋坠机。首先对方向舵卡死后产生的力和力矩进行分析,将其视为一个常值干扰,建立起故障后无人机侧向运动方程。针对全动平尾与差动平尾两种情况,分别推导出遏制与改出螺旋运动所需要其他舵面的补偿量;最后确定了方向舵卡死的"有限"范围关系式,通过算例分析说明所得关系式的有效性,为方向舵有限卡死无人机安全飞行的容错控制奠定了基础。

During the process of flight, the rudder deadlocking can change the longitudinal stability and the lateral stability of Unmanned Aerial Vehicle （UAV）, so the UAV may easily step into a spiral motion, which even leads to a spin crash. First, force and moment analysis is made under rudder deadlocking, which is regarded as constant disturbance. Then the fault UAV lateral motion model is established. According to the differential horizontal tail UAV and the flying head tail UAV, the compensation quantity of other surfaces is respectively derived, with which the spiral motion may be contained and recovered. Finally, the ＂limited＂ range expressions of the rudder deadlocking are given. Their validity is verified by example analysis in this paper, also provide a basis for the fault-tolerant control of the UAV safety flight under the limited rudder deadlocking.