尾坐式垂直起降无人机纵向抗风性能分析  

Anti-wind performance analysis of tail-sitter VTOL UAVs in longitudinal direction

作　　者：邸彦佳 陈自力 苏立军 DI Yanjia;CHEN Zili;SU Lijun(Shijiazhuang Campus of Army Engineering University,Shijiazhuang 050003,China;66188 Troops of the PLA,Anyang 455000,China)

机构地区：[1]陆军工程大学石家庄校区,河北石家庄050003 [2]中国人民解放军66188部队,河南安阳455000

出　　处：《飞行力学》2022年第3期36-43,共8页Flight Dynamics

摘　　要：分析了四旋翼尾坐式垂直起降无人机的纵向受力情况,建立了纵向动力学模型,并进一步分析了其最大抗风能力边界。针对尾坐式无人机在强风扰下位置跟踪精度差的问题,引入了迭代学习控制(ILC)。针对尾坐式无人机起降阶段的控制过程非重复性的问题,提出了分段迭代学习控制方法。通过仿真验证表明,该方法具有较好的稳定性,能够提高强风扰下无人机垂直状态的位置和高度控制精度。This paper analyzed the longitudinal force of a quadrotor tail-sitter VTOL UAV,and established its longitudinal aerodynamic model.According to the dynamic model,the anti-wind capability boundary of the tail-sitter UAV was analyzed.To solve the problem of poor position tracking accuracy of tail-sitter VTOL UAVs under strong wind disturbance,iterative learning control(ILC)was introduced.To avoid the non-repeatability of the control process in the take-off and landing stages of tail-sitter UAVs,a segmented iterative learning control method was proposed.The simulation results show that this method not only has good stability but also can improve the position and height control accuracy of tail-sitter VTOL UAVs under strong wind disturbance.

关 键 词：尾坐式 垂直起降无人机 迭代学习控制 飞行控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]