涵道风扇六旋翼无人机的控制策略设计

Control Strategy Design of A Culvet Fan Six-rotor UAV

为解决传统旋翼飞行器动力系统存在的航程短,载重小等局限,本文以一种新概念气驱动涵道六旋翼无人机为研究对象,通过采用控制发动机输出和气驱动回路实现对涵道风扇的升力控制,从而实现对涵道旋翼无人机的姿态控制。首先,分析了涵道六旋翼无人机动力学特性与运动特性,针对其特点设计了基于涵道风扇升力控制的姿态控制策略,并通过涵道实验与流体力学仿真确定了控制关系式;为验证姿态控制策略的可靠,本文选用PID控制算法为姿态控制律,搭建仿真平台进行验证,仿真结果表明,所设计的控制策略可以有效的实现姿态角的跟踪,实现对涵道风扇六旋翼飞行器的控制。

To solve the problems of short range,small load and other limitations of traditional rotor-craft power system,a new concept of gas-driving culvert six-rotor UAV is studied in this paper.The attitude control of the culvert rotor UAV is realized by controlling the output of the engine and the gas-driving circuit to control the lift of the ducted fan.First of all,the dynamic characteristics and kinematic characteristics of the six-rotor ducted UAV are analyzed.The attitude control strategy based on the control of ducted fan lift is designed according to its characteristics.The control relationships are determined through the dune experiments and fluid dynamics simulation.To verify the reliability of attitude control strategy,the PID algorithm is used to control the attitude and set up a simulation platform in this paper.The simulation results show that the control strategy can effectively realize the attitude angle tracking and the control of the culvert rotor UAV.