一种小型倾转四旋翼飞行器的轨迹控制

Trajectory control for a small quad tilt-rotor aircraft

针对小型倾转四旋翼(quad tilt-rotor,QTR)无人机位置控制过程中存在的外部扰动、建模误差以及输入时延的问题,给出了QTR的动力学模型,并采用基于扰动观测器的控制方法,设计了QTR的位置控制器。内回路的姿态控制器采用鲁棒伺服线性二次型最优控制器。仿真实验部分,设计了相应的飞行场景对设定的轨迹进行跟踪。仿真实验表明,所设计的基于扰动观测器的位置控制器能有效地实现对期望轨迹的跟踪,使得QTR能兼顾传统旋翼飞行器的飞行功能,同时又能像固定翼一样进行长距离快速飞行。

Considering the influence of external disturbances, modeling mismatches and input delays in the position control of small quad tilt-rotor, the dynamic model of quad tilt-rotor（QTR） was given firstly. In addition, a control method based on disturbance observer was applied to design the position controller of QTR. The robust servomechanism linear quadratic regulator（RSLQR） was applied as the attitude controller of inner loop. A flight scenario was designed in the numerical simulation to verify the trajectory tracking performance of the QTR, the result shows that the proposed position controller based on disturbance observer can realize the tracking of the desired trajectory, QTR can not only take into account the functions of the traditional rotor UAV, but also can fly for a long distance like the fixed-wing aircraft.