【作者】 李建伟；

【导师】 王建春；

【作者基本信息】 哈尔滨工业大学 ， 航天工程（专业学位）， 2019， 硕士

【摘要】 垂直起降无人机不仅可以像固定翼无人机一样远距离快速飞行,也可以像旋翼机一样垂直起降方便,发展前景十分广阔。但目前对垂直起降无人机的研究尚不完备。本文通过调研了国内外无人机的市场需求,选择了尾座式垂直起降无人机作为研究对象,推导了其飞行动力学方程,并结合实验测算了不同螺旋桨转速对其后方气流速度的影响。同时调研了多种垂直起降无人机的PID控制方法,选择了串级PID控制,通过simulink搭建尾座式垂直起降无人机的混控模型仿真平台。在所搭建的模型中分别对三个姿态通道和三个位置通道输入单位阶跃信号,调节PID参数,观察其单位阶跃响应,同时观察螺旋桨和舵面的变化,所得到的单位阶跃响应都能快速收敛稳定,且超调量很小,几乎无震荡,证明了所设计的飞行控制器具有良好的稳定性,并结合真实飞行数据验证了模型的准确性。此外还对不同PID参数对尾座式垂起无人机稳定性的影响进行了分析,包括姿态控制器和位置控制器的各个通道的PID参数优化设计,研究其不同变化趋势和不同变化幅度对无人机各个通道稳定性的影响程度,总结了尾座式垂起无人机各通道稳定性调节规律,为以后的飞行测试提供了良好的调参指示。更多还原

【Abstract】 Vertical take-off and landing(VTOL)unmanned aerial vehicle(UAV)combine the characteristics of long range,fast speed,long endurance of fixed-wing UAV and convenient vertical take-off and landing of rotary-wing UAV.It has broad prospects for development.But at present,the research on vertical take-off and landing UAV is not complete.Based on the investigation of UAV demand in domestic and overseas market,this thesis selects the tail-sitter vertical take-off and landing UAV as the research object,deduces its flight dynamics equation,and calculates the influence of different propeller rotational speed on the airflow velocity at the rear of the aircraft.At the same time,the PID control methods of various vertical take-off and landing UAVs are investigated.The serial PID control is selected,and the simulation platform of the hybrid control model of the tailstock vertical take-off and landing UAV is constructed by Simulink.In the model,three attitude channels and three position channels are entered into the unit step signal.The PID parameters are adjusted,the step response is observed,and the change of propeller and rudder surface is observed.I find that the unit step response can be quickly convergent and stable,and the overshoot is very small,almost no oscillation.It is proved that the designed flight controller has good stability and the accuracy of the model is verified by the combination of real flight data.In addition,the influence of different PID parameters on the stability of tailstock vertical UAV is analyzed,including the optimal design of PID parameters of each channel of attitude controller and position controller,and the influence degree of different changing trends and different variation amplitude on the stability of UAV channels is studied.The Stability Regulation law of each channel of the tail-seat vertical UAV is summarized,which provides a good parameter indication for the future flight test.更多还原