【摘要】：對傾轉三旋翼無人機過渡模式下定高轉換的縱向姿態(tài)控制進行了研究,為提高縱向操縱效能、解決操縱冗余問題,設計了模態(tài)轉換中的操縱控制方案;采用牛頓-歐拉法對飛機進行動力學建模分析,建立了縱向動力學模型并給出了過渡轉換路徑;通過操縱效能分析對兩種操縱機制進行分配,給出了操縱分配的權重和控制律。仿真和實驗樣機飛行試驗地面站數(shù)據(jù)分析結果表明,按照所設計的操縱分配方案和控制律對飛機過渡模式進行縱向控制,能夠使飛機保持平穩(wěn)過渡。
[Abstract]:In order to improve the efficiency of longitudinal control and to solve the problem of redundant manipulation, the control scheme of mode conversion is designed in order to improve the longitudinal attitude control of tilting three-rotor UAV in the transition mode. Newton-Euler method is used to model and analyze the dynamics of aircraft, the longitudinal dynamic model is established and the transition path is given, and the weight and control law of the control assignment are given through the control effectiveness analysis. The results of simulation and experimental prototype flight test ground station data analysis show that the aircraft transition mode can be controlled longitudinally according to the designed control allocation scheme and control law, which can make the aircraft maintain a smooth transition.
【作者單位】： 軍械工程學院無人機工程系;
【基金】：十二五國防預研項目(51325050101)
【分類號】：V249.1;V279

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