多螺旋桨太阳能无人机俯仰控制方法研究

Research on Pitch Control Method for Multi-Propeller Solar Powered UAV

在太阳能无人机飞行俯仰控制的研究中,为更好地满足太阳能无人机长航时的飞行要求,提出一种采用由多螺旋桨差动推力产生俯仰力矩从而达到俯仰控制效果的新型控制方法。太阳能无人机机翼的柔性结构特点造成飞行过程中螺旋桨产生纵向位移,为多螺旋桨差动控制提供了基础。由于多螺旋桨是过操纵机构,引入加权伪逆方法对多螺旋桨输入冗余进行控制分配,并与传统的升降舵LQR控制方法进行对比分析。仿真结果表明,多螺旋桨差动推力俯仰控制方法能达到良好的控制效果,且比传统升降舵控制更符合太阳能无人机飞行特点和可靠性要求,为太阳能无人机实现无气动舵面飞行控制提供了理论依据。

Regarded of the request of long endurance performance, a longitudinal differential thrust control meth- od was introduced to a kind of solar powered unmanned aircraft vehicle （UAV） with flexible wing. The perpendicular offset resulted from the displacement of the curve wing can provide pitch moment which can be used to control pitch attitude. In this paper, a weighted pseudo - inverse scheme was designed for this over - actuator system to allocate differential thrust inputs. The simulation results show that this control technique guarantees a better tracking effect which is more qualified for solar - powered UAVwhen is compared with the LQR control algorithm with elevator in- puts. These results provide the theoretical basis of rudderless control flight for solar - powered UAVs.