Transition Stage Control of Tail Sitter Aircraft Based on Guardian Maps  

基于保护映射的尾坐式飞行器过渡过程控制

作　　者：ZHANG Yong CHEN Xinyi 张勇;陈辛怡(南京航空航天大学无人机研究院,南京210016;南京航空航天大学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;南京航空航天大学计算机科学与技术学院,南京211106)

机构地区：[1]Research Institute of Pilotless Aircraft,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,P.R.China [2]Key Laboratory of Unmanned Aerial Vehicle Technology,Ministry of Industry and Information Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,P.R.China [3]College of Computer Science and Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,P.R.China

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2020年第2期322-331,共10页南京航空航天大学学报（英文版）

基　　金：This work was supported by the Fundamental Research Funds for the Central Universities(No.NJ2018015)。

摘　　要：To deal with the high nonlinearities and strong couplings in the transition stage of tailsitter aircraft,an adaptive gainscheduling controller is proposed by combining the guardian maps theory and H∞control theory.This method is applied to track the flightpath angle of the transition stage of tailsitter aircraft,and compared with the linear quadratic regulator(LQR)method based on traditional gain scheduling.Simulation results show that the controller based on the guardian maps theory can autonomously schedule the appropriate control parameters and accomplish the stable transition.Besides,the proposed method shows better tracking performance than the LQR method based on traditional gain scheduling.针对尾座式飞行器过渡阶段动力学模型的大范围非线性变化问题,结合保护映射理论和H∞控制理论设计自适应控制增益调度技术。将提出的自适应控制增益调度技术对尾座式飞行器过渡过程的纵向模型进行航迹角跟踪,并与传统的基于增益调度技术的LQR方法进行对比。仿真结果表明:基于保护映射理论设计的控制器能够自主切换合适的控制律,完成过渡过程的稳定转换,并且本文方法比基于传统增益调度技术的LQR方法显示出了更好的跟踪性能。

关 键 词：tailsitter aircraft transition stage guardian maps adaptive gainscheduling controller 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]