[1]沈杨杨,杨忠,徐浩,等.一种小型倾转四旋翼飞行器的轨迹控制[J].应用科技,2018,45(03):71-75.[doi:10.11991/yykj.201706014]
 SHEN Yangyang,YANG Zhong,XU Hao,et al.Trajectory control for a small quad tilt-rotor aircraft[J].yykj,2018,45(03):71-75.[doi:10.11991/yykj.201706014]
点击复制

一种小型倾转四旋翼飞行器的轨迹控制(/HTML)
分享到:

《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第45卷
期数:
2018年03期
页码:
71-75
栏目:
自动化技术
出版日期:
2018-05-05

文章信息/Info

Title:
Trajectory control for a small quad tilt-rotor aircraft
作者:
沈杨杨 杨忠 徐浩 李劲松 杨轻
南京航空航天大学 自动化学院, 江苏 南京 210016
Author(s):
SHEN Yangyang YANG Zhong XU Hao LI Jinsong YANG Qing
School of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
关键词:
倾转旋翼机扰动观测器鲁棒伺服线性二次型控制器黎卡提方程扰动建模误差时延积分滤波器
Keywords:
tilt-rotor aircraftdisturbance observerrslqrriccati equationdisturbancemodeling errortime delayintegral filter
分类号:
V221.8
DOI:
10.11991/yykj.201706014
文献标志码:
A
摘要:
针对小型倾转四旋翼(quad tilt-rotor, QTR)无人机位置控制过程中存在的外部扰动、建模误差以及输入时延的问题,给出了QTR的动力学模型,并采用基于扰动观测器的控制方法,设计了QTR的位置控制器。内回路的姿态控制器采用鲁棒伺服线性二次型最优控制器。仿真实验部分,设计了相应的飞行场景对设定的轨迹进行跟踪。仿真实验表明,所设计的基于扰动观测器的位置控制器能有效地实现对期望轨迹的跟踪,使得QTR能兼顾传统旋翼飞行器的飞行功能,同时又能像固定翼一样进行长距离快速飞行。
Abstract:
Considering the influence of external disturbances, modeling mismatches and input delays in the position control of small quad tilt-rotor, the dynamic model of quad tilt-rotor(QTR) was given firstly. In addition, a control method based on disturbance observer was applied to design the position controller of QTR. The robust servomechanism linear quadratic regulator (RSLQR) was applied as the attitude controller of inner loop. A flight scenario was designed in the numerical simulation to verify the trajectory tracking performance of the QTR, the result shows that the proposed position controller based on disturbance observer can realize the tracking of the desired trajectory, QTR can not only take into account the functions of the traditional rotor UAV, but also can fly for a long distance like the fixed-wing aircraft.

参考文献/References:

[1] CETINSOY E, DIKYAR S, HANCER C, et al. Design and construction of a novel quad tilt-wing UAV[J]. Mechatronics, 2012, 22(6):723-745.
[2] YILDIZ Y, UNEL M, DEMIREL A E. Adaptive nonlinear hierarchical control of a quad tilt-wing UAV[C]//Proceedings of 2015 European Control Conference. Linz, Austria, 2015:3623-3628.
[3] YILDIZ Y, UNEL M, DEMIREL A E. Nonlinear hierarchical control of a quad tilt-wing UAV:An adaptive control approach[J]. International journal of adaptive control and signal processing, 2017, 31(9):1245-1264.
[4] FLORES G R, ESCAREÑO J, LOZANO R, et al. Quad-tilting rotor convertible MAV:modeling and real-time hover flight control[J]. Journal of intelligent & robotic systems, 2012, 65(1/2/3/4):457-471.
[5] FLORES G, LOZANO R. Transition flight control of the quad-tilting rotor convertible MAV[C]//International Conference on Unmanned Aircraft Systems. Atlanta, USA, 2013:789-794.
[6] WANG Xinhua, CAI Lilong. Mathematical modeling and control of a tilt-rotor aircraft[J]. Aerospace science and technology, 2015, 47:473-492.
[7] FANG Zheng, GAO Weinan. Adaptive integral backstepping control of a Micro-Quadrotor[C]//Proceedings of the 2nd International Conference on Intelligent Control and Information Processing. Harbin, China, 2011:910-915.
[8] LIN Qing, CAI Zhihao, YANG Jinpeng, et al. Trajectory tracking control for hovering and acceleration maneuver of Quad Tilt Rotor UAV[C]//Proceedings of 33rd Chinese Control Conference. Nanjing, China, 2014:2052-2057.
[9] 沈杨杨, 杨忠, 张翔, 等. 一种倾转四旋翼无人机及其过渡段姿态控制[J]. 兵工自动化, 2018, 37(3):82-87.
[10] 王世勇. 六旋翼无人机控制系统设计与实现[D]. 南京:南京航空航天大学, 2015:40-45.
[11] 陆宜. 某小型无人倾转旋翼机飞行控制系统设计与仿真[D]. 南京:南京航空航天大学, 2015:62-66.
[12] SLOTINE J J E, LI Weiping. 应用非线性控制[M]. 程代展, 等译. 北京:机械工业出版社, 2006.
[13] ZHAO Shulong, AN Honglei, ZHANG Daibing, et al. A new feedback linearization LQR control for attitude of quadrotor[C]//Proceedings of the 13th International Conference on Control Automation Robotics & Vision. Singapore, 2014:1593-1597.
[14] LAVRETSKY E, WISE K A. Robust and adaptive control[M]. London:Springer, 2013:51-61.

备注/Memo

备注/Memo:
收稿日期:2017-06-19。
基金项目:国家自然科学基金项目(61473144),航空科学基金项目(21062852031)
作者简介:沈杨杨(1993-),男,硕士研究生;杨忠(1969-),男,教授,博士
通讯作者:杨忠,E-mail:YangZhong@nuaa.edu.cna
更新日期/Last Update: 2018-06-14