基于模糊控制的倾转三旋翼无人机过渡模式操纵策略研究

Transitional Mode Manipulation Strategy of Tilt Tri-rotor UAVs Based on Fuzzy Control

倾转三旋翼无人飞行器作为一种特殊构型的飞行器,结合了直升机和固定翼飞行器的优点,同时具备了直升机和固定翼飞行器的操纵方式,但在过渡模式中需要对发动机短舱进行控制,造成操纵冗余问题,两套操纵方式都不适合单独使用。针对倾转三旋翼无人机过渡模式发动机短舱倾转过程中的飞行器操纵冗余问题,建立了合适的倾转三旋翼过渡模式动力模型,提出了一种新的基于模糊控制的倾转控制方法,通过与传统的倾转旋翼飞行器过渡模式操纵策略对比实验分析发现,该方法能够较好地解决倾转三旋翼无人机过渡模式中纵向高度控制问题,使倾转三旋翼无人机能够平稳高效地实现过渡模式飞行。

As an aircraft with special configuration, the tilt tri-rotor UAV combines the advantages of helicopters and fixed-wing aircrafts and has the operating modes of the two at the same time. Whereas, the engine nacelle should be controlled in the transitional mode, which brings the problem of manipulation redundancy, and neither manipulation approach is fit for use alone. In order to solve the problem of aircraft manipulating redundancy of the tilt tri-rotor UAV in the process of nacelle tilting in the transitional mode, an appropriate dynamic model of the tilt tri-rotor in the transitional mode is built, and a new tilting control method based on fuzzy control is proposed. Through the experimental analysis and the comparison with the traditional manipulation strategy of the tilt rotor aircraft in the transitional mode, it is found that this method can solve the problem of longitudinal height control of the tilt tri-rotor UAV in the transitional mode, so that the tilt tri-rotor UAV can implement a smooth and efficient flight in the transitional mode.