基于隐模型跟踪的倾转旋翼机飞行控制

Tiltrotor aircraft flight control based on implicit model following

针对倾转旋翼机过渡阶段的强耦合性和快时变性,基于隐模型跟踪法设计了过渡阶段的自主飞行控制律。首先,考虑短舱和旋翼相对机身运动带来的额外惯性力,建立了倾转旋翼机的多体动力学模型;然后,通过飞行动力学特性分析发现倾转旋翼机过渡阶段具有强耦合性和快时变性;最后,针对强耦合性使用隐模型跟踪法实现了固定倾转角时的解耦控制,针对快时变性使用插值调用控制参数的方法实现了倾转旋翼机在整个过渡阶段的连续控制。仿真结果表明,隐模型跟踪控制系统能够达到良好的速度和轨迹跟踪效果,可以实现倾转旋翼机在过渡阶段的自主飞行仿真。

For the strong coupling and fast time-varying characteristics of tihrotor aircraft in transition stage, an autonomous flight control law was designed based on implicit model following method. Firstly, a muhi-rigid-body dynamic model of a tihrotor aircraft was established, considering the dynamics coupling caused by the relative motion between nacelles and fuselage. Then, the flight dynamic characteristics＇ a- nalysis shows that the transition stage of tihrotor aircraft has strong coupling and fast time-varying charac- teristics. Finally, implicit model following method is applied to realize decoupling control at fixed tilt an- gle, and gain scheduling by interpolation is applied for fast time-varying characteristic to realize continu- ous control of tihrotor aircraft in transition stage. The simulation results show that the implicit model following control system can achieve good speed and trajectory tracking effect, and realize autonomous flight simulation of tiltrotor aircraft in transition stage.