倾转四旋翼飞行器操纵策略

doi:10.7527/S1000-6893.2024.30165

Abstract

Abstract:

The multi-rotors and multi-wings configuration of the Quad-TiltRotor （QTR） leads to complicated aerodynamic interference between each component， while occupying redundant control inputs. A model considering aerodynamic rotor-rotor and rotor-wing interference is developed， which is applicable to multiple flight modes of the quad-tiltrotor aircraft. A nonlinear flight dynamics model with a high degree of confidence across the flight range is established. A control strategy configuration method is proposed by introducing the control weight coefficient to solve the redundant control problem. Then， the sensitivity to flight dynamics characteristics of each compound control is analyzed. The simulation results show that the required rotor power and pitch attitude will reduce as the combined longitudinal cyclic pitch increases. A suitable weight coefficient of combined lateral cyclic pitch is necessary to balance the too small control derivative and too large heading coupling derivative. The heading control derivative can increase by using the weight coefficient of left-right rotors collective differential in the fixed-wing mode， but unnecessary lateral coupling will be brought in. The weight of the cross rotor collective differential should be reduced in the helicopter mode and increase in the conversion mode. The increase of the weight coefficient of front-rear rotors lateral cyclic differential can decrease dramatically the lateral coupling caused by heading control.

Key words: quad-tiltrotor aircraft, aerodynamic interaction, flight dynamics model, compound control, control strategy

CLC Number:

V212.4

Pan ZHOU, Renliang CHEN, Ningmeng YANG, Bowen NIE, Guoqiang LI. Control strategy for quad-tiltrotor aircraft[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(22): 130165.

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References 24

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参数	数值	参数	数值
全机质量/kg	60	旋翼实度	0.093 8
旋翼转速/（r·min^-1）	2 100	机翼平均弦长/m	0.3
旋翼桨叶数量/片	3	前后机翼间距/m	1.2
旋翼半径/m	0.58	前后机翼高度差/m	0.116
桨叶特征弦长/m	0.057	机身长/m	2.5
单片桨叶质量/kg	0.125	机身宽/m	0.36
前机翼展长/m	1.6	机身高/m	0.38
后机翼展长/m	2.2	平尾参考面积/m²	0.09

旋翼编号	干扰类型
旋翼编号	1	2	3	4
1		横向	交叉	纵向
2	横向		纵向	交叉
3	交叉	纵向		横向
4	纵向	交叉	横向

通道	操纵方式
垂向通道	总距联动
滚转通道	横向周期变距联动	左、右旋翼总距差动
俯仰通道	纵向周期变距联动	前、后旋翼总距差动
偏航通道	左、右旋翼纵向周期变距差动	交叉旋翼总距差动	横向周期变距差动

通道	操纵方式
俯仰通道	后机翼襟副翼联动（类似升降舵）
滚转通道	前机翼襟副翼差动（类似副翼）
前向通道	旋翼总距联动
偏航通道	方向舵偏转	左、右旋翼总距差动

操纵量	权重系数
横向周期变距联动	$ξ l a t, h$
直升机模式中左、右旋翼总距差动	$1 - ξ l a t, h$
纵向周期变距联动	$ξ l o n, h$
前、后旋翼总距差动	$1 - ξ l o n, h$
交叉旋翼总距差动	$ξ p e d, h 1$
前、后旋翼横向周期变距差动	$ξ p e d, h 2$
左、右旋翼纵向周期变距差动	$1 - ξ p e d, h 1 - ξ p e d, h 2$
飞机模式中左、右旋翼总距差动	$ξ p e d, a$
方向舵偏转	$1 - ξ p e d, a$

Control strategy for quad-tiltrotor aircraft

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