可倾转双旋翼飞行系统起降控制器设计

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关键词：非线性系统；非线性控制器；倾转双旋翼；无人机；惯性测量单元中图分类号：TP394.1;TH699 文献标识码：Adoi：10.37188/OPE.20263404.0599 CSTR：32169.14.OPE.20263404.0599

Abstract：To enhance the control strategy tiltrotor takef ling，a takef ling controller was designed to be validated through flight experiments.Based on the nonlinear dynamic equations the aircraft，the effects nonlinear factors associated with generalized forces atitude coupling on the stability the takef ling controller were studied.The coupled state equations，which contain the product terms generalized forces atitude，were linearized to obtain the feedback gain matrix for system control optimization. For the actual takef ling process，the aircraft's atitude，acceleration， flight altitude were independently measured by using a measurement device composed an onboard inertial measurement unit an ultrasonic ranging unit.The measured flight altitude from the takef ling controller was compared with the simulation the linearized state equations， the effects the designed controller on attitude flight altitude，as well as the effctiveness linearizing the coupled state equations，were analyzed. The experiments show that the average measured flight altitude differs from the simulated value by -2mm ，with a maximum difference 8mm ， that the trend variation in the measured flight altitude is consistent with the simulation，indicating that the designed takef ling controller meets the requirements for system control stability. The takef ling controller method studied in this work can efectively control the aircraft's takef ling，demonstrating practical application value.

Key words： nonlinear system;nonlinear controller;tilted bi-rotor;UAV；IMU

1引言

无人驾驶飞行器（UnmannedAerialVehicle，UAV）主要用于人类难以参与的高风险任务，尤其是结合了传统固定翼飞机和旋翼机优势的既能垂直起降、又能快速飞行的UAV在各种作业中具有更高的价值[1-5]

可倾转双旋翼无人飞行器（TiltedBi-RotorUAV，TBRUAV）为了实现垂直起降和固定翼飞机两种飞行模式，采用可倾转机翼、可倾转旋翼UAV，以及两者混合的结构设计。（剩余15106字）