针对一种变形式四旋翼陆空两栖机器人，研究空陆转域飞行控制方法，为实现陆空机器人从空中到地面的连续机动奠定了基础。建立了等效于变形式四旋翼陆空两栖机器人的飞行及转域系统结构模型和动力学模型，针对转域变形过程中转动惯量的改变及复杂飞行环境中负载变化和机体质量受损问题，在设计了基于线性二次型调节器（LQR）算法的姿态控制器和基于比例-积分-微分（PID）算法的高度控制器基础上，设计加入模型参考自适应系统（MRACS）解决模型参数不确定性问题。利用Adams/MATLAB联合仿真，首先得到空陆转域变形角度的极限值，然后对比仿真有无自适应补偿器的控制效果验证了该控制方法的高效性。研制了转域飞行样机，对空陆转域变形角度极限值和飞行控制方法进行了试验验证。
The flight control method for the air-land transfer in a new metamorphic air-land amphibious vehicles is studied, laying the foundation for the continuous maneuver from air to land for air-land amphibious vehicles. Structural model and dynamic model, which are equivalent to the metamorphic air-land amphibious vehicles, are built. To solve the variations of the moment of inertia and the load in the area transfer and the complex environment, Model Reference Adaptive Control System (MRACS) is applied to compensate the uncertainty of the model based on Linear Quadratic Regulaton (LQR) attitude controller and PID height controller. The extreme value of air-land transfer deformation angle is obtained and the effectiveness of this control strategy is verified by using the Adams/MATLAB co-simulation. The transfer flight prototype is developed and experiments are carried out to test its control method and the extreme value.
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