复合翼无人机进场阶段协调控制策略研究

Study on Coordination Control Strategy in the Period of Approach of Quadplane

复合翼无人机兼具旋翼机垂直起降与固定翼高速平飞的优点,但在进场阶段为一个不稳定、非线性、强耦合的控制对象。针对上述问题,从多角度分析了上述问题存在的原因,从工程实践出发,设计了进场协调控制策略。上述策略除复合翼无人机主控制器与进场不同阶段协调控制策略外,还包含如下控制子策略:副翼用作扰流板辅助减速策略;四旋翼油门缓起策略;高度控制分阶段策略;动态减速段动态减速策略。经过与常规的控制策略在仿真中进行对比,上述协调控制策略提高了进场阶段俯仰姿态的稳定性,使复合翼无人机控制系统在进场阶段具有良好的控制精度与鲁棒性。

UAV of quadplane has the abilities of vertically taking off and landing and flying horizontally in high airspeed, but it is a nonlinear and strongly coupling control object with high instability in the period of approach. Aiming at solving the above problems, this article analyzed the reasons for the above problems from several angles and designed a kind of coordination control strategy for approach from engineering practice. Beside major controllers of quadplane and coordination control strategies for different stages of approach, subsidiary strategies of control were included as follows : auxiliary strategy for deceleration in which the aileron was used as spoiler, slow - start strategy of output of throttle of quadrotor, height control strategy for different stages, and strategy of dynamically decelerating in the stage of dynamic deceleration. Compared with regular control strategy in simulation, this coordination control strategy improves the stability of pitch angle in the period of approach, which proves the fact that the coordination control strategy in this article makes the control system of quadplane have good control precision and robustness.