四倾转旋翼无人机模型预测姿态控制律设计与仿真  

Design and simulation of model predictive attitude control law for quad tiltrotor UAV

作　　者：唐子文 徐锦法[1] TANG Ziwen;XU Jinfa(National Key Laboratory of Helicopter Aeromechanics,NUAA,Nanjing 210016,China)

机构地区：[1]南京航空航天大学直升机动力学全国重点实验室,江苏南京210016

出　　处：《飞行力学》2024年第3期45-51,共7页Flight Dynamics

基　　金：国家级重点实验室基金项目资助(61422202204,9140C400504130C4148);江苏高校优势学科建设工程基金资助项目。

摘　　要：针对四倾转旋翼无人机全模态姿态控制律设计困难的问题开展了研究。首先,建立了四倾转旋翼无人机飞行动力学模型,并开展了不同飞行模态操纵策略分析;然后,运用模型预测控制理论设计姿态控制器;最后,对四倾转旋翼无人机的姿态控制进行了仿真试验及结果分析。研究结果表明,所设计的模型预测姿态控制响应速度快、跟踪控制性能好,可实现较好的控制效果。A study was conducted on the difficulty in designing the full mode attitude control law for quad tiltrotor unmanned aerial vehicle(UAV). Firstly, the flight dynamics model of the quad tiltrotor UAV was established, and the manipulation strategies of different flight modes were analyzed. Then, the attitude controller was designed by using the model predictive control theory. Finally, the simulation experiments and results analysis of the attitude control of the quad tiltrotor UAV were carried out. The research results show that the designed model predictive attitude control has a fast response speed and a good tracking control performance, and can achieve better control effect.

关 键 词：四倾转旋翼无人机 飞行动力学模型 操纵策略 模型预测 姿态控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1