宇航计测技术

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小型混合翼无人机过渡过程一体化建模与控制

王博豪1；张勇2，3；徐伟程1；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，南京 210016；
    3、中小型无人机先进技术工业和信息化部重点实验室，南京 210016
  • 出版日期:2019-04-25 发布日期:2019-04-25
  • 作者简介:王博豪（1993-），男，硕士研究生，主要研究方向：飞行器控制。
  • 基金资助:
    中央高校基本科研业务费专项资金资助，No.NJ2018015.supported by “the Fundamental Research Funds for the Central Universities”，NO.NJ2018015

Integrated Modeling and Control of Small Hybrid Wing UAV Transient Process

WANG Bo-hao1；ZHANG Yong2，3；XU Wei-cheng1；GUO Jin1   

  1. 1、Nanjing University of Aeronautics & Astronautics Automation College,Nanjing 210016,China;
    2、Research Institute of Pilotless Aircraft, Nanjing University of Aeronautics and Astronautics Nanjing, Nanjing 210016, China;
    3、Key Laboratory of Unmanned Aerial Vehicle Technology, Nanjing University of Aeronautics and Astronautics, Ministry of Industry and Information Technology, Nanjing 210016, China
  • Online:2019-04-25 Published:2019-04-25

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摘要： 混合翼垂直起降无人机解决了普通固定翼无人机无法垂直起降以及旋翼无人机航时航程小的问题。针对旋翼与固定翼结合的混合翼可垂直起降无人机系统，将过渡过程中旋翼部分和固定翼部分进行一体化结合，推导了混合翼无人机过渡过程非线性动力学方程组。通过对得到的无人机纵向气动模型进行稳定性分析，设计了基于采用LQR(Linear Quadratic Regulator)的增益调度跟踪控制器。结果表明设计的控制器能使无人机状态进行良好的跟踪。

关键词: 垂直起降, 建模, 增益调度, 线性二次型调节器

Abstract: The hybrid wing vertical take-off and landing UAV solves the problem that the fixed wing UAVs can not vertical take-off and landing, and the small flight time of the rotor unmanned aerial vehicle (UAV). A hybrid wing combined with a fixed wing can be used for a vertical take-off and landing unmanned aerial vehicle (UAV) system. A six degree of freedom nonlinear dynamic equation is derived from the integration of the rotor and the fixed wing in the transition process. The stability of the longitudinal aerodynamic model is analyzed, and a gain scheduling tracking controller based on LQR (Linear Quadratic Regulator) is designed. The results show that the designed controller can track the UAV state very well.

Key words: Vertical take-off and landing, Modeling, Gain scheduling, LQR

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