横列式双倾转旋翼机控制系统研究

Research on Control System of Tilt-Rotor UAV

针对横列式双倾转旋翼机平飞加速过渡过程中的标称速度轨迹跟踪问题,提出了通过升力占比划分过渡阶段,实现标称轨迹的工程化设计。基于经典PID理论,分别设计了各过渡阶段各通道控制律和控制参数,提出了总距余弦分配的操纵分配方法,并解决了过渡过程中严重的纵垂向耦合问题。仿真结果表明,该纵向控制策略在强干扰下仍可以实现对象飞行器的平稳过渡。

Aiming at the problem of nominal velocity trajectory tracking in the transition process of horizontal flight acceleration of unmanned tilt-rotor aircraft,an engineering realization of nominal trajectory is proposed by dividing the transition stage by lift ratio.Based on the classical PID theory,the control laws and control parameters of each control loop in each transition stage are designed respectively,and the manipulation allocation method of collective pitch cosine allocation is innovatively proposed to solve the serious longitudinal and vertical coupling problem in the transition process.The simulation results show that the longitudinal control strategy can still realize the smooth transition of the unmanned tilt-rotor aircraft under strong interference.