【作者】 许斌；

【导师】 陈仁良；

【作者基本信息】 南京航空航天大学 ， 航空宇航科学与技术， 2015， 硕士

【摘要】 针对小型倾转旋翼机提出了飞行控制系统硬件配置方案,在此基础上建立小型无人倾转旋翼机飞行动力学数学模型,该模型基于叶素理论建立小型无人倾转旋翼机旋翼气动模型,结合风洞试验数据建立机翼、机身、平尾和垂尾等部件的气动模型,将各部分模型组合成完整的倾转旋翼机飞行动力学模型,得到小型倾转旋翼机的控制对象特性,然后采用PID设计方法进行飞行控制律设计。根据小型倾转旋翼机飞行控制系统硬件和飞行控制律,进行飞行控制系统软件设计,设计了飞控系统软件的控制逻辑和各个组成模块,串口数据收发、帧数据解析等在嵌入式系统内的实现方式以及对各种指令的处理、倾转旋翼机飞行模式间控制律切换以及地面站设计。在整个设计环节采用等效飞控法对飞控系统进行了虚拟化,使得飞控系统的软件可以在PC上面运行,可以快速方便的移植到嵌入式系统。最后,采用半物理仿真对飞控系统的功能进行了验证。更多还原

【Abstract】 A hardware configuration scheme of flight control system for tilt-rotor is proposed in this paper, and a flight dynamic model for tilt-rotor is established on that base. The rotor dynamic model is based on blade element theory, and the model of wing, fuselage, horizontal tail and vertical tail is based on experimental data from wind tunnel. At last each part is combined into a complete flight dynamic model of tilt-rotor. After we get the plant characteristic for tilt-rotor, a PID controller is designed. According to the flight dynamic model and control rule for tilt-rotor, each model in a flight control system of a software of flight control system is designed, including the control logic, data receiving and sending, serial data and frame data processing and the design of a ground station system, And the realization of flight control system in embedded system is achieved. In the whole design process, an equivalent flight controller is built to virtualize the flight control system. So, the soft of flight control system could run on a PC. In this way, the software development is convenient with other model and is easy to transplant to embedded system. At last, a semi-physical simulation is performed to demonstrate the effective of the software design.更多还原