倾斜共轴旋翼尾立式飞机鲁棒预测控制

Robust Model Predictive Control of Tail-Sitter Aircraft with Tilting Coaxial Rotors

倾斜共轴旋翼尾立式飞机是一种垂直起降飞机,能够实现悬停和水平飞行,并在垂直起降之间进行转换。通过对倾斜共轴旋翼推力装置进行动力学建模,构建了尾立式飞机的动力学和运动学模型。为了解决控制输入饱和受限的问题,采用了基于多面体凸集的饱和输入描述方法,并采用多面体多顶点描述,提出了基于线性矩阵不等式的鲁棒预测控制方法,较好地解决了在输入受限条件下鲁棒预测控制的稳定性问题。通过对悬停状态施加外界干扰和水平飞行,垂直飞行两种状态互相转换进行仿真,验证了在气动舵面,旋翼倾斜角度等受限条件下控制器的有效性,从而保证了尾立式飞机多种飞行模态的转换。

Tilting co - axial tail - sitter aircraft is one kind of vertical taking off, vertical landing （VTOL） aircraft, which can perform hovering and transition between horizontal flight and VTOL flight. Dynamic and mechanics model of the tail - sitter aircraft was researched by modeling the co - axial tilting propellers. With the purpose of solving the problem of saturated inputs, polytopic convex sets were used in describing the saturated inputs. Meanwhile, based on the polytopic description, robust model predictive control method was proposed, which can efficiently solve the stability problem which occurs in the saturated MPC method. In simulation section, the sudden pulse disturbance was added to the hovering flight condition to test the controller efficiency and correctness. The transition between horizontal flight and vertical flight was also simulated to test the aero - actuator and tilting co - axial rotors. These simulation tests proves the stability of the controller and the ability of the tail - sitter aircraft which can transform between different flight modes.