1. 上海交通大学 电子信息与电气工程学院， 上海 200240；2. 西北工业大学 第365研究所， 西安 710072
出版日期:2019-10-28发布日期:2019-11-01通讯作者:鹿存跃，男，副教授，电话(Tel.)：021-34204909；E-mail：lucunyue@sjtu.edu.cn.作者简介:刘志豪(1994-)，男，安徽省六安市人，硕士生，主要研究方向为无人机导航与控制.基金资助:国家自然科学基金(61371017，11174206)，爱生创新发展基金(ASN-IF2015-1302)，国家海洋工程重点实验室开放课题(0507)Transition Flight Control Strategy of Multiple Flight Mode Vertical Take-Off and Landing Unmanned Aerial Vehicle
LIU Zhihao 1,MIN Rong 2,FANG Cheng 1,YI Chao 1,LU Cunyue 1,MA Yixin 11. School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240，China; 2. No.365 Institute, Northwestern Polytechnical University, Xi’an 710072, China
Online:2019-10-28Published:2019-11-01摘要/Abstract
摘要： 垂直起降无人机飞行模式转换时的飞行控制策略对于保证无人机安全可靠地飞行至关重要.对尾座式垂直起降无人机过渡模式的飞行控制策略进行了深入研究，提出了最快模式转换定高控制策略，并利用模拟分析和实验的手段对比了该策略、经典比例-积分-微分(PID)控制策略和最快模式转换控制策略的飞行效果.最快模式转换定高策略优化了转换速度和高度变化两个飞行参数，同步了俯仰角达到巡航攻角的时间和飞行速度达到巡航速度的时间，保持了无人机在模式转换过程中竖直方向的受力平衡.模拟结果表明：最快模式转换定高控制策略比经典PID控制策略和最快模式转换控制策略的时间分别缩短了 0.98 和 0.48s，高度变化量分别减小了 2.27 和 0.91m；最快模式转换定高控制策略的飞行控制效果明显优于经典PID控制策略和最快模式转换控制策略.所提出的控制策略解决了尾座式垂直起降无人机飞行模式转换时的掉高问题，能够保证无人机在过渡模式下快速平稳地实现飞行模式转换.
关键词: 多飞行模式；垂直起降；无人机；过渡模式；最快模式转换定高控制策略
Abstract: The flight control strategy for vertical take-off and landing(VTOL) unmanned aerial vehicle(UAV) in mode transition is essential to ensure a safe and reliable flight. This paper studies the flight control strategy in the transition mode of tail-mounted VTOL UAV, and proposes a strategy of the fastest transition speed with constant altitude control. Simulation and experiment are used to analyze and compare the flight effect of this strategy, classical proportion-intergration-differentiation(PID) control and the fastest transition speed control. Strategy of the fastest transition speed with constant altitude control optimizes the change of flight speed and altitude, synchronizes the time of cruise attack angle and cruise speed, and maintains the vertical force balance of UAV in the mode transition. The simulation results show that the fastest transition speed with constant altitude control’s time decreases by 0.98 and 0.48s than that of the classical PID control and the fastest transition speed control, while the change of altitude decreases by 2.27 and 0.91m. The flight control effect of the fastest transition speed with constant altitude control is obviously superior to the classical PID control and the fastest transition speed control. The proposed control strategy solved the problem of large altitude change during the mode transition, and ensured the rapid and steady flight mode transition of UAV in the transition mode.
Key words: multiple flight mode; vertical take-off and landing (VTOL); unmanned aerial vehicle (UAV); transition mode; the fastest transition speed with constant altitude control
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