基于INDI的倾转旋翼无人机过渡模式控制方案  

Transition mode control scheme of tilt rotor UAV based on INDI

作　　者：刘双喜 林泽淮 刘伟 闫斌斌[3] 黄伟[1,2] LIU Shuangxi;LIN Zehuai;LIU Wei;YAN Binbin;HUANG Wei(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China;Hypersonic Technology Laboratory,National University of Defense Technology,Changsha 410073,China;School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China;Shanghai Aerospace Equipment Manufacturer Co.,Ltd,Shanghai 200245,China)

机构地区：[1]国防科技大学空天科学学院,长沙410073 [2]国防科技大学高超声速技术实验室,长沙410073 [3]西北工业大学航天学院,西安710072 [4]上海航天设备制造总厂有限公司,上海200245

出　　处：《航空学报》2024年第17期229-243,共15页Acta Aeronautica et Astronautica Sinica

基　　金：湖南省杰出青年基金(2021JJ10045);西北工业大学硕士研究生实践创新能力培育基金(PF2023046)。

摘　　要：针对倾转旋翼无人机(TRUAV)过渡模式控制问题,提出了一种基于增量非线性动态逆(INDI)的控制方案。首先,基于四轴倾转旋翼无人机动力学特性,建立了面向控制的纵向运动模型;随后,研究了虚拟控制量与控制量分配方法,在此基础上设计了倾转旋翼无人机过渡模式自适应倾转方案;然后,基于增量非线性动态逆控制理论,分别设计了高度、速度和姿态回路过渡模式下内/外环控制器,以及旋翼和舵面控制量混合策略。最后,仿真实验验证了基于虚拟控制量分配的自适应倾转方案的有效性,以及高度、速度和姿态回路控制器的鲁棒性。This paper proposes an Incremental Nonlinear Dynamic Inverse(INDI)control scheme for the problem of transition mode control of Tilt Rotor Unmanned Aerial Vehicle(TRUAV).Firstly,based on the dynamic characteristics of the quadrotor TRUAV,a longitudinal motion model suitable for control is established.Then,the virtual control com⁃mand and control allocation methods are studied,and an adaptive tilt scheme for the transition mode of the TRUAV is designed based on these methods.Subsequently,based on the incremental nonlinear dynamic inverse control theory,the inner/outer loop controllers for the altitude,velocity and attitude transition modes are designed,as well as a mixed control method for rotor and rudder deflection control quantities.Finally,simulation experiments validate the effectiveness of the adaptive tilt scheme based on virtual control command allocation,as well as the robustness of the altitude,velocity,and attitude controllers.

关 键 词：倾转旋翼无人机 增量非线性动态逆 过渡模式 自适应 动力学建模 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]