无人倾转旋翼飞行器冗余操纵控制策略设计

Redundant manipulation control strategy for unmanned tilt-rotor aircraft

根据所建立的无人倾转旋翼飞行器飞行动力学模型配平和小扰动线性化处理结果分析了不同飞行模式下的操纵效率,应用多目标非线性控制方法的目标优化函数性能指标得到了操纵效率矩阵系数,设计了一套实用的舵面驱动分配策略,实现了飞行器全模式飞行,解决了飞行控制随飞行模式变化所要求的操纵冗余问题.采用所提出的操纵分配策略可使飞行控制器统一设计,无需按不同飞行模式设计控制器,有效降低了飞行控制器的设计难度.给出了一个全模式飞行仿真样例,运用线性PID控制器实现了稳定飞行控制.利用倾转旋翼飞行器飞行动力学模型仿真验证了操纵分配策略的有效性.

A manipulation assignment strategy of full-mode flight based on unmanned tilt-rotor aircraft flight dynamics model trim and small perturbation linearization processing results was presented, and its manipulation efficiency was analyzed for different flight mode. The control efficiency matrix coefficients were solved with an objective optimization function specification of multi-object nonlinear control method. A difl＇icuh problem that was the manipulate redundancy as the flight mode changes in the process of flight control was overcome. A unified flight controller was designed with the help of manipulation allocation strategy, without having to design a controller for different flight mode. The design difficulty of the flight controller is effectively reduced. A full-mode of flight simulation is given out, in which a stable flight control is achieved with a linear PID controller. Simulation results demonstrate the credibility of the tilt-rotor aircraft flight dynamics model and the effectiveness of the manipulation assignment strategy.