倾转三旋翼无人机过渡模式纵向姿态控制

Longitudinal attitude control for a tilt tri-rotor UAV in transition mode

对倾转三旋翼无人机过渡模式下定高转换的纵向姿态控制进行了研究,为提高纵向操纵效能、解决操纵冗余问题,设计了模态转换中的操纵控制方案;采用牛顿-欧拉法对飞机进行动力学建模分析,建立了纵向动力学模型并给出了过渡转换路径;通过操纵效能分析对两种操纵机制进行分配,给出了操纵分配的权重和控制律。仿真和实验样机飞行试验地面站数据分析结果表明,按照所设计的操纵分配方案和控制律对飞机过渡模式进行纵向控制,能够使飞机保持平稳过渡。

Aiming at control of longitudinal attitude and altitude-keeping in transition mode for a tilt tri-rotor UAV,a manipulate scheme was designed to improve longitudinal control efficiency and solve the tiltrotor aircraft operating redundancy. The Newton-Euler method was adopted to establish the longitudinal dynamic model and obtain conversion path of transition mode. Both the control law and weighting of control allocation were provided according to analysis of control efficiency. MATLAB simulation and telemetry data analysis show that the control allocation and control law is available hence the flight modes can convert steadily.