旋转机翼无人机纵向自适应滑模控制研究  

Design of longitudinal controller for canard rotor wing UAV based on adaptive sliding mode control

作　　者：何澳[1] 田力 王斑[1] 张珊珊 高正红[1] 杨博 HE Ao;TIAN Li;WANG Ban;ZHANG Shanshan;GAO Zhenghong;YANG Bo(School of Aeronautics,Northwestern Polytechnical University,Xi'an 710072,China;Nanjing Smart Loong Rotor-Wing UAV System Research Institute Co.,Ltd.,Nanjing 210009,China)

机构地区：[1]西北工业大学航空学院,陕西西安710072 [2]南京灵龙旋翼无人机系统研究院有限公司,江苏南京210009

出　　处：《飞行力学》2022年第4期34-39,共6页Flight Dynamics

基　　金：国家自然科学基金资助(62003266)。

摘　　要：针对旋转机翼无人机过渡前飞过程中,旋翼的下洗流对平尾干扰非常强的问题,提出了一种自适应滑模控制方法。首先,建立了旋转机翼无人机的纵向线性飞行动力学模型,并考虑了多输入的控制分配与俯仰干扰力矩;然后,构造了旋转机翼无人机的期望滑动面,将自适应控制与滑模控制相结合,设计了旋转机翼飞行器过渡前飞段的自适应滑模控制器;最后,进行了仿真验证。仿真结果表明,设计的控制器能较好地抑制非线性气动干扰对无人机的影响。所得结果对旋转机翼飞行器的工程发展具备一定的参考价值。The influence on horizontal tail by the induced slipstream produced by rotor during conversion flight mode is really strong. This paper presents a controller based on adaptive sliding mode control. Firstly, the linear longitudinal flight dynamics model of canard rotor wing UAV was built, and the control distribution of redundancy inputs and pitch moment disturbance were considered. Then the expected sliding surface was built and a longitudinal control system for conversion flight was designed, which was the combination of adaptive control and sliding mode control. Finally, the simulation verification was carried out. The flight simulation validates the influence restrain of aerodynamic interaction between rotor wing and horizontal tail by the adaptive sliding mode control system. This work will be helpful for engineering application of canard rotor wing aircraft.

关 键 词：旋转机翼 过渡飞行 自适应滑模 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1