倾转三旋翼无人机纵向推力矢量控制研究  

Study on the control of longitudinal thrust vector of a tilt tri-rotor UAV

作　　者：张飞[1] 路平[1] 江涛[1] 史凤鸣[1] ZHANG Fei;LU Ping;JIANG Tao;SHI Feng-ming(Department of Unmanned Aerial Vehicle Engineering, Ordnance Engineering College, Shijiazhuang 050003, Chin)

机构地区：[1]军械工程学院无人机工程系,河北石家庄050003

出　　处：《飞行力学》2017年第6期70-74,79,共6页Flight Dynamics

基　　金：军地重点科研项目资助(ZS2015070132A12007)

摘　　要：针对倾转三旋翼无人机纵向姿态控制问题开展研究,结合倾转三旋翼无人机构型的特殊性,提出了一种基于推力矢量控制的纵向姿态控制策略,同时基于新型的推力矢量控制方法设计了更高效的倾转三旋翼无人机操纵机制;采用牛顿-欧拉法对倾转三旋翼无人机进行动力学建模分析,通过对机翼采取分段分析的方法,设计了旋翼/机翼下洗载荷模型,并进行了仿真和实地飞行试验。试验结果表明,所提出的纵向姿态控制策略,能有效提高无人机飞行效率,具有更强的速度响应能力,提高了飞行过程中的可靠性和安全性。In this paper,a longitudinal attitude control strategy based on thrust vector control was proposed,and a new type of thrust vector control method is designed based on the particularity of tilt tri-rotor UAV configuration. And the maneuver mechanism of the tilt tri-rotor UAV was analyzed by Newton-Euler method. The rotor/wing downwash load model was designed by segment analysis of the wing,and the simulation and practical flight tests were conducted. The experimental results show that the longitudinal attitude control strategy could improve the flight efficiency and had the stronger speed response ability. The new manipulate strategy improved the reliability and safety of the flight process.

关 键 词：倾转三旋翼无人机 纵向姿态 推力矢量 操纵策略 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]