倾转四旋翼飞行器操纵策略  

Control strategy for quad-tiltrotor aircraft

作　　者：周攀 陈仁良[2] 杨柠檬 聂博文[1] 李国强[1] ZHOU Pan;CHEN Renliang;YANG Ningmeng;NIE Bowen;LI Guoqiang(State Key Laboratory of Aerodynamics,China Aerodynamics Research and Development Center,Mianyang621000,China;National Key Laboratory of Helicopter Aeromechanics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]中国空气动力研究与发展中心空天飞行空气动力科学与技术全国重点实验室,绵阳621000 [2]南京航空航天大学直升机动力学全国重点实验室,南京210016

出　　处：《航空学报》2024年第22期77-91,共15页Acta Aeronautica et Astronautica Sinica

基　　金：国家级项目。

摘　　要：倾转四旋翼飞行器由四副可以倾转的旋翼/机翼组成,各旋翼/机翼之间存在复杂的气动干扰,面临严重的操纵冗余问题。为优化倾转四旋翼飞行器的操纵策略,发展了全飞行模式的旋翼/旋翼和旋翼/机翼气动干扰模型,进一步建立了高阶非线性飞行动力学模型。在此基础上,提出了基于操纵量权重系数的倾转四旋翼飞行器复合操纵策略配置方法,开展了各复合操纵量对飞行力学特性影响的敏感性分析,得到了不同飞行模式下的操纵策略。对倾转四旋翼飞行器试验样机的仿真计算结果表明:纵向周期变距系数的增加在3种飞行模式下都可以降低旋翼需用功率以及减小俯仰姿态,应占主导作用;横向周期变距联动系数在直升机模式下需逐步减小以优化航向操纵导数,在倾转过渡和飞机模式下减小至0;左、右旋翼总距差动可以增加飞机模式的航向操纵导数,但会导致横向耦合,应尽可能小;交叉旋翼总距差动系数不仅不能改变航向操纵导数,还导致横向耦合,应尽可能不用;前、后旋翼横向周期变距差动系数能够大幅减小航向操纵导致的横向耦合,在3种飞行模式下都应占主导作用。The multi-rotors and multi-wings configuration of the Quad-TiltRotor(QTR)leads to complicated aerodynamic interference between each component,while occupying redundant control inputs.A model considering aerodynamic rotor-rotor and rotor-wing interference is developed,which is applicable to multiple flight modes of the quadtiltrotor aircraft.A nonlinear flight dynamics model with a high degree of confidence across the flight range is estab-lished.A control strategy configuration method is proposed by introducing the control weight coefficient to solve the re-dundant control problem.Then,the sensitivity to flight dynamics characteristics of each compound control is analyzed.The simulation results show that the required rotor power and pitch attitude will reduce as the combined longitudinal cy-clic pitch increases.A suitable weight coefficient of combined lateral cyclic pitch is necessary to balance the too small control derivative and too large heading coupling derivative.The heading control derivative can increase by using the weight coefficient of left-right rotors collective differential in the fixed-wing mode,but unnecessary lateral coupling will be brought in.The weight of the cross rotor collective differential should be reduced in the helicopter mode and increase in the conversion mode.The increase of the weight coefficient of front-rear rotors lateral cyclic differential can decrease dramatically the lateral coupling caused by heading control.

关 键 词：倾转四旋翼飞行器 气动干扰 飞行动力学模型 复合操纵 操纵策略 

分 类 号：V212.4[航空宇航科学与技术—航空宇航推进理论与工程] V249.1