宇航计测技术

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尾坐式飞行器增益调度控制器设计和比较

杨硕1；杨柳庆2；张勇2；郭锦1   

  1. 1、南京航空航天大学 自动化学院，南京 210016；
    2、南京航空航天大学 无人机研究院，长空科技集团，南京 210016
  • 出版日期:2019-04-25 发布日期:2019-04-25
  • 作者简介:杨硕（1991-），男，硕士，主要研究方向：飞行器控制。

Design and Comparison of TailSitter Aircraft Gain Scheduling Controller

YANG Shuo1；YANG Liu-qing2；ZHANG Yong2；GUO Jin1   

  1. 1、Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;
    2、Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China
  • Online:2019-04-25 Published:2019-04-25

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摘要： 针对尾坐式飞行器的动力学模型进行分析，考虑螺旋桨尾流对飞行器的控制作用，建立其数学模型，并针对尾坐式飞行器的纵向转换过渡过程设计了一种基于航迹倾斜角变化的增益调度控制器，分别使用LQR和H∞两种反馈控制方法经历其增益调度控制器。分别以斜坡和多级阶跃信号为指令，通过以航迹角跟踪的方式进行纵向模型的过渡仿真验证控制器的性能，仿真结果表明，两种控制器均能保证飞行器的稳定过渡转换飞行，且在稳定性方面增益调度LQR控制器具有更好的性能，在快速性和准确性上增益调度H∞控制器具有更大优势。

关键词: 尾坐式飞行器, 垂直起降, 增益调度, LQR控制, H&infin, 控制

Abstract: Based on the analysis of the dynamics model of the tail-sitter aircraft, considering the control effect of the propeller wake on the aircraft, the mathematical model is established, and a tracking angle based on the track is designed for the longitudinal transition of the tailseat aircraft. The variable gain scheduling controller experiences its gain scheduling controller using two feedback control methods, LQR and H∞, respectively. The slope and multi-step signal are used as instructions to verify the performance of the longitudinal model by means of track angle tracking. The simulation results show that both controllers can ensure the stable transition flight of the aircraft. And the gain scheduling LQR controller has better performance in terms of stability, and the gain scheduling H∞ controller has greater advantages in terms of speed and accuracy.

Key words: Tail-sitter aircraft, Vertical take-off and landing, Gain scheduling, LQR control, H&infin, control

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