基于智能变后缘的超微型无人机高度控制研究  

Research on Altitude Control of Ultra-micro UAV Based on Intelligent Variable Trailing Edge

作　　者：杜昊炜 刘振[1] 康子晗 李世琪 DU Haowei;LIU Zhen;KANG Zihan;LI Shiqi(School of Aerospace Engineering,Xi'an Jiaotong University,Xi'an 610103,China)

机构地区：[1]西安交通大学航天航空学院,西安710049

出　　处：《无人系统技术》2023年第3期103-117,共15页Unmanned Systems Technology

基　　金：国家自然科学基金(11772252,11302164)。

摘　　要：针对微型旋翼飞行器在飞行时,因旋翼表面容易发生流动分离而造成升力损失的问题,开展了采用连续后缘襟翼(CTEF)来改变飞行器升力的技术研究。首先,开展了不同安装角下微型旋翼的推进性能研究,建立了微型旋翼模型,对其进行推进性能分析;然后,利用P(VDF-TrFE)材料制作CTEF,采用单向流固耦合的方法对使用CTEF的旋翼进行推进性能分析,结果表明后缘襟翼在电压驱动下可以实现有效偏转,偏转产生的等效安装角在12°左右,最高可将拉力提升40%;最后,基于PID控制器设计无人机高度控制系统,通过控制驱动电压,实现控制无人机高度的目的。仿真结果表明控制系统的响应时间在6 s左右,超调量在5%左右。研究表明,提出的基于P(VDFTrFE)材料的无人机高度控制系统可以实现无人机高度通道的有效控制,证实了CTEF在旋翼飞行器控制方面的潜力。In order to solve the problem of lift loss caused by flow separation on the surface of micro rotorcraft during flight,a continuous trailing edge flap(CTEF)was used to change the lift of MAV.Firstly,the propulsion performance of the micro-rotor at different installation angles was studied,and its propulsion performance was analyzed by establishing the micro-rotor model.Then,continuous trailing flaps made of P(VDF-TRFE)material were used to analyze the propulsion performance of rotors using continuous trailing flaps by unidirectional fluid-structure coupling method.The results show that the trailing edge flaps can realize effective deflection under voltage drive,the equivalent installation angle generated by deflection is about 12°,and the tension can be increased by 40%at most.Finally,UAV height control system was designed based on PID controller,and the purpose of UAV height control was realized by controlling driving voltage.The simulation results show that the response time of the control system is about 6 s,and the overshoot is about 5%.The research shows that the proposed UAV altitude control system based on P(VDF-TRFE)material can effectively control the UAV altitude channel,which confirms the potential of continuous trailing edge flaps in the control of rotorcraft.

关 键 词：微型旋翼 智能桨叶 连续后缘襟翼 流固耦合 智能材料 PID控制 

分 类 号：V275.1[航空宇航科学与技术—飞行器设计]