尾坐式无人机过渡模式纵向解耦控制

针对尾坐式无人机不同飞行模式过渡过程中纵向飞行速度和高度的协调控制问题,采用计算流体力学的方法对尾坐式无人机进行了气动特性计算和分析,根据总能量控制理论设计了过渡模式的在线解耦控制策略,为了适应尾坐式无人机过渡过程攻角和飞行速度的大幅变化,考虑阻力的影响,设计了非线性形式的总能量控制系统。通过仿真对比实验,基于总能量控制理论设计的解耦控制器,使尾坐式无人机在过渡过程取得良好的纵向解耦控制效果,验证了算法的有效性。

Longitudinal decoupling control for the tail-sitter unmannedaerial vehicle during transition

In order to solve the longitudinal decoupling control problems for the transition of tail-sitter unmanned aerial vehicle (UAV), the computational fluid dynamics method is usedto analyze the aerodynamic characteristics of the UAV, and a timely decoupling control strategy based on total energy principles is proposed. Taking the effect of aerodynamicdrag into account, a nonlinear form of the total energy control system is designed to adapt to the large changes of angle of attack and airspeed during the transition flight.Finally, according to the simulation experiments, the tail-sitter UAV has achieved good decoupling control effect during the transition by using the decoupling controller basedon total energy principles, and the availability of the method is validated.