以全翼式太阳能无人机（UAV）为研究对象，针对无副翼状态下横航向控制问题，提出了采用方向舵偏转和螺旋桨差动进行横航向控制的方法。首先，分析了两个螺旋桨条件下该类无人机横航向的稳定性与操纵性；然后，基于线性自抗扰控制（LADRC）理论，以方向舵偏和螺旋桨差动为控制输出，分别设计了滚转角控制器和偏航角控制器。最后，结合滚转角控制和偏航角控制的优缺点，在L1轨迹跟踪算法的基础上设计了方向舵和螺旋桨联用的直线轨迹跟踪器。仿真结果表明：所设计的控制器具有较好的控制性能、鲁棒性和抗风性。同时参数整定过程相对简单，并采用实际可测的物理量，为进一步工程应用提供参考。
To solve the lateral-directional control problem of the full-wing solar-powered Unmanned Aerial Vehicle (UAV) without ailerons, a control approach which uses rudder deflection and differential propeller thrust to control the lateral direction is proposed. Firstly, the lateral-directional stability and manoeuvrability of this type of UAV with double propellers are analyzed. Secondly, based on the Linear Active Disturbance-Rejection Control (LADRC) theory, the roll and the yaw angle controllers are designed by using the rudder rotation and differential propeller thrust as the control outputs, respectively. Finally, considering the advantages and disadvantages of the roll and the yaw angle controllers, a rudder and propeller combined straight-line trajectory tracking scheme is designed on the base of L1 trajectory tracking theory. Simulation results show that the control method proposed has a good control performance, better robustness and wind resistance. Since the proposed controller has small computational complexity, a simple parameter setting process, and use of practical measurable physical quantities, it will provide a reference solution for further engineering applications.
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