串置翼垂直起降无人机过渡机动飞行控制

针对新型串置翼布局推力矢量无人机在垂直起降、过渡机动飞行过程中强非线性、强耦合及控制冗余的问题,采用动态逆控制方法设计全局控制系统,无需针对不同飞行模式切换控制策略。在此基础上,提出二级递进式控制分配策略,将序列二次规划、链式递增方法相结合,对航迹回路和姿态回路的控制量进行综合优化分配。同时,根据任务需求及飞行状态,基于离线数据库在线实时更新直接力控制分配目标函数权值。采用松弛约束策略,局部放宽非线性优化问题约束,增加优化求解速度。仿真结果表明该控制器能够有效跟踪高机动目标航迹。

Transition maneuver flight control for a tandem wing VTOL UAV

Considering the problems of a new type tandem wing thrust vectored unmanned aerial vehicle (UAV) during vertical take off and landing (VTOL) flight and transition maneuver flight, which are strong non linearity, strong coupling and control redundancy, the dynamic inversion control method is used to design the global control system without changing control strategies for different flight modes. Based on this, a two stage progressive control allocation strategy is proposed. The sequential quadratic programming and chain increment methods are combined to optimize the allocation of the control variables in tracking loop and attitude loop. At the same time, according to the task requirements and flight status, the objective function weights are online real time updated based on off line database for the allocation of direct force control. Relaxation constraint strategy is used to locally relax constraints of nonlinear optimization problem and increase the speed of optimization solution. Simulation results show that the controller can effectively track high maneuvering trajectory.