| 小型混合翼无人机过渡过程一体化建模与控制 |
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| 引用本文： | 王博豪,张勇,徐伟程,郭锦.小型混合翼无人机过渡过程一体化建模与控制[J].宇航计测技术,2019,39(2):27-31. |
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| 作者姓名： | 王博豪 张勇 徐伟程 郭锦 |
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| 作者单位： | 1、南京航空航天大学自动化学院，南京 210016；
2、南京航空航天大学无人机研究院，南京 210016；
3、中小型无人机先进技术工业和信息化部重点实验室，南京 210016 |
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| 基金项目： | 中央高校基本科研业务费专项资金资助，No.NJ2018015.supported by “the Fundamental Research Funds for the Central Universities”，NO.NJ2018015 |
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| 摘 要： | 混合翼垂直起降无人机解决了普通固定翼无人机无法垂直起降以及旋翼无人机航时航程小的问题。针对旋翼与固定翼结合的混合翼可垂直起降无人机系统,将过渡过程中旋翼部分和固定翼部分进行一体化结合,推导了混合翼无人机过渡过程非线性动力学方程组。通过对得到的无人机纵向气动模型进行稳定性分析,设计了基于采用LQR(Linear Quadratic Regulator)的增益调度跟踪控制器。结果表明设计的控制器能使无人机状态进行良好的跟踪。
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| 关 键 词： | 垂直起降 建模 增益调度 线性二次型调节器 |
Integrated Modeling and Control of Small Hybrid Wing UAV Transient Process |
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| WANG Bo-hao,ZHANG Yong,XU Wei-cheng,GUO Jin.Integrated Modeling and Control of Small Hybrid Wing UAV Transient Process[J].Journal of Astronautic Metrology and Measurement,2019,39(2):27-31. |
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| Authors: | WANG Bo-hao ZHANG Yong XU Wei-cheng GUO Jin |
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| Institution: | 1、Nanjing University of Aeronautics & Astronautics Automation College,Nanjing 210016,China;
2、Research Institute of Pilotless Aircraft, Nanjing University of Aeronautics and Astronautics Nanjing, Nanjing 210016, China;
3、Key Laboratory of Unmanned Aerial Vehicle Technology, Nanjing University of Aeronautics and Astronautics, Ministry of Industry and Information Technology, Nanjing 210016, China |
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| Abstract: | The hybrid wing vertical take-off and landing UAV solves the problem that the fixed wing UAVs can not vertical take-off and landing, and the small flight time of the rotor unmanned aerial vehicle (UAV). A hybrid wing combined with a fixed wing can be used for a vertical take-off and landing unmanned aerial vehicle (UAV) system. A six degree of freedom nonlinear dynamic equation is derived from the integration of the rotor and the fixed wing in the transition process. The stability of the longitudinal aerodynamic model is analyzed, and a gain scheduling tracking controller based on LQR (Linear Quadratic Regulator) is designed. The results show that the designed controller can track the UAV state very well. |
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| Keywords: | Vertical take-off and landing Modeling Gain scheduling LQR |
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