【作者】 王震；

【导师】 王常虹；

【作者基本信息】 哈尔滨工业大学 ， 控制工程， 2021， 硕士

【摘要】 尾座式飞机具备固定翼飞机和旋翼机的优点,具有垂直起降、飞行速度快、续航时间长等特点,应用前景广阔。然而,尾座式飞机存在六自由度动力学强耦合、欧拉角奇异等问题,导致控制器设计较为困难。本文以尾座式无人机为研究对象,首先根据尾座式无人机构型发展设计了尾座式无人机的构型并测量相关参数。分析了尾座式无人机的飞行原理,建立了数学模型。最后设计了尾座式无人机飞行控制方法,并通过飞行验证可飞行控制器。主要工作包括:首先,根据尾座式无人机构型的发展设计了尾座式无人机模型。根据设计目标对尾座式无人机的机翼、动力系统和电池进行了选型设计;测量了模型的气动力系数和气动力矩系数,以及无人机的转动惯量等相关参数。其次,根据尾座式无人机的飞行原理,采用垂向欧拉角和传统欧拉角来表示尾座式垂直起降无人机的姿态。分析了螺旋桨滑流和无人机的动力学特性,研究了力与力矩的产生机理,从而建立尾座式无人机六自由度非线性动力学模型。然后,简化无人机数学模型进行来设计串级PID垂直悬停控制器实现了垂直悬停控制。过渡过程可以描述为固定翼大角度机动飞行。针对姿态角大幅度变化的非线性系统,设计了纵向总能量控制系统的速度控制器和外环比例控制内环滑模控制的姿态角控制器,实现过渡飞行以及固定翼飞行,并通过仿真验证控制器的有效性。最后搭建实际飞行平台进行实际飞行试验。实验结果表明,该无人机具有悬停姿态控制精度高、双向飞行模式切换速度快的特点。更多还原

【Abstract】 Tailsitter aircraft has the advantages of fixed-wing aircraft and rotary-wing aircraft.It has the characteristics of vertical take-off and landing,fast flight speed,and long endurance,and has a wide range of application prospects.However,the tailsitter aircraft has problems such as strong dynamic coupling of six degrees of freedom and singular Euler angles,which makes the design of the controller more difficult.This paper takes tailsitter UAV as the research object.First,according to the development of the tailsitter UAV,the configuration of the tailsitter UAV is designed and the relevant parameters of the UAV are measured.Then,the flying principle of the tail-mounted UAV is analyzed and mathematical model is established Finally,the design verification of the tailsitter UAV flight control method is carried out.The main tasks include:First of all,the tailsitter UAV model is designed according to the development of the tailsitter unmanned mechanism.According to the design goals,the wing,power system and battery of the tailsitter UAV are designed and selected.then the aerodynamic coefficient and aerodynamic moment coefficient of the model are measured,as well as the UAV’s moment of inertia and other related parameters.Secondly,according to the flying principle of the tailsitter UAV,the vertical Euler angle and the traditional Euler angle are used to express the attitude of the tailsitter UAV.The dynamic characteristics of the propeller slipstream and the UAV are analyzed,and the generation mechanism of force and moment is studied,thereby establishing a six-degree-of-freedom nonlinear dynamic model of the tailsitter UAV.Thirdly,the cascade PID vertical hover controller is designed by simplifying the mathematical model of the UAV to realize the vertical hover control.The transition process can be described as a large-angle fixed-wing maneuvering flight.For nonlinear systems with large changes in attitude angle,the speed controller of the longitudinal total energy control system and the attitude angle controller of the outer loop proportional control and inner loop sliding mode control are designed to achieve transitional flight and fixed-wing flight.The effectiveness of the controller is verified by simulation.Finally,an actual flight platform was built for actual flight test.Experimental results show that the UAV has high hover attitude control accuracy and fast switching of two-way flight modes.更多还原