基于反步法的矢量推力旋翼机建模及仿真研究

结合传统四旋翼无人机与可倾转旋翼机的特点，提出了一种具有矢量推力的四旋翼无人机。该无人机兼具传统四旋翼无人机垂直起降和悬停、可倾转旋翼机高机动性的优点，并可为其指定期望俯仰角和期望偏航角，使其具备了完成多元化任务的功能。控制系统采用分层设计的思想，上层为位置控制系统，下层为姿态控制系统，二者均采用反步法进行控制率设计。仿真实验结果表明，设计的控制系统可靠有效，矢量推力四旋翼无人机可以快速、精确地完成设想的机动动作。

Modeling and Simulation of Quadrotor UAV with Vector Thrust Based on Backstepping

Combined with characteristics of the traditional quadrotor and the quad tilt-wing UAV, a quadrotor UAV with the vector thrust (VTQ) is proposed. This UAV has the ability of vertical take-off and landing and hovering, as well as the high maneuverability of the traditional quad tilt-wing UAV. It has the ability of completing the diversified tasks by being specified the desired yaw angle and pitch angle. Control system adopts the method of the layered design. The upper layer is the position control system, the lower layer is the attitude control system, and the control laws are both designed by the backstepping theory. The simulation results show the designed control system is reliable and effective, and the VTQ can carry out the planned maneuver quickly and accurately.