改进的TECS在VTOL倾转翼无人机中的应用

Application of Improved TECS in VTOL Tilt-wing UAV

以垂直起降(VTOL)倾转翼无人机为研究对象,优化了总能量控制系统(TECS)的核心算法,实现了固定翼模式下的大包线纵向解耦控制,同时设计了垂向速度限幅调节策略和失速保护策略,提高了无人机的飞行安全,降低了工程应用中参数适配的复杂性。经过仿真验证、平原试飞和高原试飞验证,解决了高度控制和速度控制的超调,高度轨迹跟踪误差减小了19.9%,垂向速度限幅调节策略有效。失速保护策略只进行仿真测试,通过强突风干扰诱发失速保护,无人机迅速增大空速,保证了飞行安全。

Taking the vertical take-off and landing(VTOL)tilt-wing unmanned aerial vehicle(UAV)as the research object,the core algorithms for the total energy control system(TECS)are optimized to realize large envelope longitudinal decoupling control in the fixed-wing mode in this paper.Besides,we designed the strategies of vertical speed limiting regulation and stall protection.These strategies improve the flight safety of UAVs and reduce the complexity of parameter adaptation in engineering applications.The control overshoot of altitude and speed is gone through simulation and flight tests on plain and plateau.The tracking error of altitude trajectory is reduced by 19.9%,and the vertical velocity limiting adjustment strategy is effective.The stall protection strategy is simulated only by inducing strong gust disturbance.The airspeed of the UAV increases rapidly to ensure flight safety.