基于INDI的倾转旋翼无人机过渡模式控制方案

doi:10.7527/S1000-6893.2024.29685

Abstract

Abstract:

This paper proposes an Incremental Nonlinear Dynamic Inverse （INDI） control scheme for the problem of transition mode control of Tilt Rotor Unmanned Aerial Vehicle （TRUAV）. Firstly， based on the dynamic characteristics of the quadrotor TRUAV， a longitudinal motion model suitable for control is established. Then， the virtual control command and control allocation methods are studied， and an adaptive tilt scheme for the transition mode of the TRUAV is designed based on these methods. Subsequently， based on the incremental nonlinear dynamic inverse control theory， the inner/outer loop controllers for the altitude， velocity and attitude transition modes are designed， as well as a mixed control method for rotor and rudder deflection control quantities. Finally， simulation experiments validate the effectiveness of the adaptive tilt scheme based on virtual control command allocation， as well as the robustness of the altitude， velocity， and attitude controllers.

Key words: tilt rotor unmanned aerial vehicle, incremental nonlinear dynamic inverse, transition mode, adaptive, dynamic modeling

CLC Number:

V249.12

Shuangxi LIU, Zehuai LIN, Wei LIU, Binbin YAN, Wei HUANG. Transition mode control scheme of tilt rotor UAV based on INDI[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(17): 529685-529685.

Figures/Tables 16

Fig.1

Fig.2

Fig.3

Fig. 4

Fig.5

Fig.6

Fig.7

Table 1

Performance of the TRUAV

参数	数值
质量 $m / k g$	2.0
翼展 $/ m$	1.2
机身长度 $/ m$	0.876
螺旋桨型号	8 060
电机型号	X2216
$J z / k g ⋅ m 2$	0.1

Table 1

Table 2

Initial simulation parameters

状态量	数值
高度 $H 0 / m$	100
速度 $V 0 / m ⋅ s - 1$	0
俯仰角 $θ 0 / (°)$	0
舵偏角 $δ Z 0 / (°)$	0

Table 2

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Table 3

Parameter deflection range

参数类别	参数	拉偏范围/%
机体参数	m	10
	J_z	10
	S	10
	L	10
	$k t$	10
气动参数	C_x	25
	C_y	25
	m_z	25
大气环境	ρ	10

Table 3

Fig.13

References 22

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Transition mode control scheme of tilt rotor UAV based on INDI

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