基于矫正广义走廊的电动倾转旋翼机模态转换

研究了基于矫正广义走廊和在线增益调度方法的电动倾转旋翼机模态转换控制问题。针对传统配平方法导致模态转换过程中时变动态特征被忽略的不足，提出一种新的两步法配平策略，即矫正配平工作点，并获得矫正广义走廊，以减小系统实际运行状态与配平工作点的偏离程度，进而改善增益调度方法的控制效果。传统增益调度方法控制器设计工作量较大，针对该问题设计了在线增益调度算法，有效避免了拟合过程。对某小型电动倾转旋翼无人机（UAV）的仿真表明，基于所提方法使得倾转旋翼机平稳、快速地完成模态转换过程；实验数据进一步表明，矫正后广义走廊相比于矫正前可将对过渡走廊的平均跟踪误差显著减小。

Mode conversion of electric tilt rotor aircraft based on corrected generalized corridor

The control problem of mode conversion of electric tilt rotor aircraft is studied in this paper based on the corrected generalized corridor and online gain-scheduling method. Considering the drawbacks of the traditional trimming approach which omits the dynamic time-varying factors during the conversion process, a new two-step trimming strategy is proposed, that is, correcting the operating points first and then obtaining the corrected generalized corridor. As a result, the deviation between the trim condition and the real operating points of the system is reduced, and hence the performance of the gain-scheduling control is improved. Furthermore, as the workload of designing the conversion controller with the traditional gain-scheduling method is heavy, we develop an online gain-scheduling algorithm to avoid the fitting procedure. Simulation of a small electric tilt rotor Unmanned Aerial Vehicle (UAV) shows that the tilt rotor UAV can complete the mode conversion flight fastly and steadily. It is also found that the average tracking error of the conversion corridor can be reduced significantly with the corrected generalized corridor.