涵道尾座式垂直起降飞行器全包线飞行控制

A full envelope flight controller for ducted fan tail sitter vertical take-off and landing

中文关键词  涵道尾座式飞行器  垂直起降  无人机控制  飞行模态转换控制

英文关键词  ducted fan tail sitter  vertical take-off and landing  UAV control  flight mode transition control

中文摘要

      本文针对一种新型涵道尾座式垂直起降飞行器的非线性控制问题, 提出一种全包线飞行控制方案. 在设计 的控制框架中, 采用统一的坐标系描述该飞行器的多模态特性. 对于不可测量的外部力矩, 设计了辅助系统进行观 测及自适应律进行补偿; 对于可测的合外力, 设计了一种基于加速度测量的拉力/姿态几何解耦方法; 同时, 给出了 保证闭环系统全局指数稳定的充分条件. 最后, 所述控制方案成功应用于一小型涵道尾座式无人机上, 并完成了飞 行器垂直/水平模态转换飞行试验, 验证了所提出方法的有效性.

英文摘要

      This paper focuses on the nonlinear flight control of a novel ducted fan tail sitter vertical take-off and landing (VTOL) aircraft. We propose a full envelope flight control scheme in which the multi-mode property of the VTOL aircraft is modeled under one unified coordinate system. To estimate and compensate the unmeasurable exogenous moment, an auxiliary system and corresponding adaptive control laws are particularly designed. Meanwhile, to decouple the desired force and attitude, a geometric method is proposed with considering the acceleration measurement from onboard inertial measurement unit. Furthermore, a sufficient condition is derived to guarantee the globally exponential stability of the closed-loop system. Finally, the proposed control scheme is successfully implemented on a small ducted fan tail sitter unmanned aerial vehicle in accomplishing the vertical/horizontal flight transition, verifying the effectiveness of the proposed approaches.