短距起飞垂直着陆推力矢量无人飞行器减速过渡控制律设计

为实现短距起飞垂直着陆(STOVL)无人飞行器在推力矢量控制下的减速过渡,研究减速过渡阶段的控制律综合设计方法.首先通过分析STOVL无人飞行器减速过渡性能,对减速过渡推力矢量控制方案进行了评估;然后采用隐式动态逆方法设计导引律,为STOVL无人飞行器按预设任务减速过渡提供可达的控制指令;最后采用改进的特征结构配置方法进行内环控制律设计,跟踪导引指令并保持姿态稳定,伴随动压降低加入姿态喷管控制,辅助气动舵面稳定姿态.由全量六自由度飞行仿真结果表明:当减速过渡速度低于最小平飞速度以后,STOVL无人飞行器依然保持良好的航迹跟踪和姿态稳定.该方法完全采用直接配置法,有利于随控布局总体方案的快速评估.

Deceleration transition control law design for short take-off vertical landing unmanned aerial vehicle with thrust vector

In order to achieve the deceleration transition of short take-off vertical landing (STOVL) unmanned aerial vehicle (UAV) with thrust vector, a comprehensive control law design method for deceleration transition was studied.First, the deceleration transition thrust vectoring control schemes were evaluated based on the analysis of STOVL UAV deceleration transition performance.Then implicit dynamic inversion method was used to design guidance laws which provide guidance instructions for STOVL UAV deceleration transition mission.Finally, an improved eigen-structure assignment method was applied for the inner loop control laws design, enabling to track guidance instructions and maintain stable attitudes; the attitude nozzles were joined for the attitude control with the drop of dynamic pressure.Results from six degree of freedom (DOF) flight simulation platform show that, when the deceleration transition speed is lower than the minimum level flight speed, STOVL UAV still keeps favorable trajectory tracking and stable attitude.Deceleration transition integrated control laws fully adopt direct collocation methods, making it conducive to rapid assessment for control configuration of vehicle program.