四倾转旋翼飞行器直升机模式操纵策略设计与验证  

Design and verification of manipulation strategy for quad tiltrotor aircraft in the helicopter mode

作　　者：陈培 徐锦法[1] CHEN Pei;XU Jinfa(National Key Laboratory of Rotorcraft Aeromechanics,NUAA,Nanjing 210016,China)

机构地区：[1]南京航空航天大学直升机旋翼动力学国家级重点实验室,江苏南京210016

出　　处：《飞行力学》2023年第5期65-73,80,共10页Flight Dynamics

基　　金：江苏高校优势学科建设工程基金资助项目。

摘　　要：为解决四倾转旋翼飞行器直升机模式旋翼操纵冗余问题,建立了120 kg级四倾转旋翼无人飞行器飞行动力学模型,并依据不同操纵方式的功效变化进行操纵策略优选设计。应用串级PID控制理论设计了四倾转旋翼无人飞行器飞行控制系统,仿真分析操纵策略对姿态控制和轨迹控制响应的影响;用给定姿态指令和轨迹指令跟踪控制效果验证所设计操纵策略的合理性。研究结果表明:直升机模式下,纵向、横向通道用旋翼总距差动进行控制,航向通道用左右旋翼纵向周期变距差动进行控制时操控效率最高,控制响应快,且控制输出变化幅度小;面对外界风扰,使用该优选操纵策略,控制误差最小,抗扰性好。To solve the redundant manipulation in the helicopter mode of quad tiltrotor unmanned aerial vehicle(QTR-UAV),the flight dynamics model of a 120 kg class QTR-UAV was established,and a manipulation strategy was designed according to the manipulation efficiency.Based on the cas-cade PID control principle,a flight control system of the QTR-UAV was designed and some associat-ed simulations were conducted.The influence of different manipulation strategies on the attitude and trajectory control response was analyzed under the same control parameters.The rationality of the manipulation strategy was demonstrated and validated with the tracking and control response of spe-cific attitude and trajectory commands.The research results show that in the helicopter mode,the control efficiency is higher,the speed of control response is faster,and the variation of the control output is smaller when the longitudinal and latitudinal channels are controlled by the rotor collective pitch differential,and the heading channel is controlled by the longitudinal cyclic pitch differential of the left and right rotors.Using the selected manipulation strategy,the tracking error is still small even if there is a wind disturbance,which shows the ability to resist disturbance.

关 键 词：四倾转旋翼 直升机模式 操纵策略 操纵功效 仿真分析 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249