倾转四旋翼机过渡状态飞行控制律设计

Design of transition state flight control law for quad tiltrotor

针对倾转四旋翼机过渡状态飞行控制律进行了设计研究。首先,结合滑模理论与干扰观测器设计了倾转四旋翼机倾转过渡走廊动态飞行完整控制律,并利用滑模控制方法的鲁棒性完成了全机气动干扰估计,在时域仿真环境中模拟精确气动干扰效应。然后,以倾转角作为旋翼控制器和固定翼控制器的权重因子进行操纵分配,完成了线性及正弦倾转角曲线变化下过渡模式的定高飞行控制,并将两种曲线下飞行器过渡模式状态量进行比对。最后,开展了仿真验证。结果表明,所设计的控制器动态性能良好,响应速度快,鲁棒性强,能保证倾转四旋翼机在过渡状态下保持良好的高度稳定性。

The transition state flight control law of quad tiltrotor was designed and studied. Firstly, a complete control law for tilting transition corridor dynamic flight of a quad tiltrotor aircraft was designed by combining the sliding mode theory and disturbance observer, and the robustness of the sliding mode control method was used to achieve the estimation of aerodynamic interference for the whole aircraft, and the precise aerodynamic interference effect in the time domain simulation environment was simulated. Then, the tilting angle was used as the weight factors of the rotor controller and the fixed wing controller for manoeuverability allocation. The fixed height flight control in transition mode for linear and sinusoidal tilting angle curves was completed, and the state quantity in transition mode of the aircraft for two curves was compared. Finally, the simulation validation was conducted. The results show that the designed controller demonstrates a good dynamic performance, a fast response speedand a strong robustness, ensuring a good altitude stability of the quad tiltrotor in transition states.