| 引用本文: | 匡敏驰,朱纪洪,吴德贵.推力矢量无人机尾坐式垂直起降控制[J].控制理论与应用,2015,32(11):1449~1456.[点击复制] |
| KUANG Min-chi,ZHU Ji-hong,WU De-gui.Tail-sitter vertical takeoff and landing control for thrust-vectored unmanned aerial vehicle[J].Control Theory and Technology,2015,32(11):1449~1456.[点击复制] |
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| 推力矢量无人机尾坐式垂直起降控制 |
| Tail-sitter vertical takeoff and landing control for thrust-vectored unmanned aerial vehicle |
| 摘要点击 2489 全文点击 1597 投稿时间：2015-05-17 修订日期：2015-11-21 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2015.50410 |
| 2015,32(11):1449-1456 |
| 中文关键词 尾坐式起降 推力矢量 无人机 姿态控制方法 高度控制方法 |
| 英文关键词 tail-sitter takeoff and landing thrust vector UAV attitude control method altitude control method |
| 基金项目 |
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| 中文摘要 |
| 本文研究推力矢量无人机尾坐式垂直起降的控制方法. 为解决欧拉角奇异的问题, 提出了水平/垂直欧拉
角综合姿态解算方法. 为了获得快速响应又防止超调, 控制器采用线性/恒加速度逼近和角速率限幅积分逼近控制
方法, 并且在最终输出舵偏时进行了反扭矩补偿. 此外, 本文提出了一种特殊的数据融合算法, 该算法通过迭代计算
保证了高度数据的准确性. 由于尾坐式起降时机体姿态和高度具有强耦合关系, 本文设计了一种基于滤波前馈加
速度算法的高度控制器. 尾坐式起降试验结果验证了本文所述控制方法的有效性. |
| 英文摘要 |
| The tail-sitter vertical takeoff and landing control for a thrust-vectored UAV (unmanned aerial vehicle) is
discussed. To avoid the problem of Euler angles singularity, we propose a method for obtaining the composite attitude
representation for horizontal/vertical Euler angles. To obtain the fast response while preventing the overshoot, in the controller
we employ the linear/constant acceleration approximation as well as the amplitude-limited angular rate integration
approximation, and adopt an anti-torque compensation to the final deviations in servo angles. In addition, a special data
fusion algorithm using iterative calculations is proposed to ensure the accuracy for the altitude data. To deal with the strong
coupling between the altitude and attitude of the vehicle in tail-sitter takeoff and landing, we design an altitude controller
based on the filtered feedforward acceleration algorithm. Experimental results of tail-sitter takeoff and landing validate the
effectiveness of the proposed control method. |
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