四倾转旋翼无人机模型预测姿态控制律设计与仿真

Design and simulation of model predictive attitude control law for quad tiltrotor UAV

针对四倾转旋翼无人机全模态姿态控制律设计困难的问题开展了研究。首先,建立了四倾转旋翼无人机飞行动力学模型,并开展了不同飞行模态操纵策略分析;然后,运用模型预测控制理论设计姿态控制器;最后,对四倾转旋翼无人机的姿态控制进行了仿真试验及结果分析。研究结果表明,所设计的模型预测姿态控制响应速度快、跟踪控制性能好,可实现较好的控制效果。

A study was conducted on the difficulty in designing the full mode attitude control law for quad tiltrotor unmanned aerial vehicle(UAV). Firstly, the flight dynamics model of the quad tiltrotor UAV was established, and the manipulation strategies of different flight modes were analyzed. Then, the attitude controller was designed by using the model predictive control theory. Finally, the simulation experiments and results analysis of the attitude control of the quad tiltrotor UAV were carried out. The research results show that the designed model predictive attitude control has a fast response speed and a good tracking control performance, and can achieve better control effect.