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研究了某小型倾转旋翼无人机模态转换阶段的飞行控制问题.基于鲁棒H∞控制,给出了一种模态转换飞行的增益调度方法,其设计条件具有线性矩阵不等式(LMI)的形式.针对模态转换飞行阶段存在的操纵冗余问题,给出了一套实用的舵效分配策略.通过对该飞行器转换模态纵向动力学系统进行仿真研究,结果表明,该方法可以确保飞行器能准确地按照预定轨迹完成模态转换飞行,并对模型中存在的气动参数摄动具有较好的鲁棒性,且能够有效地抑制阵风等外部扰动.
The flight control of a small tilt rotor UAV during the modal transition phase is studied.Based on the robust H∞ control, a gain scheduling method for modal transition flight is proposed, whose design conditions are linear matrix inequality (LMI) A set of practical rudder effective assignment strategy is given for the maneuvering redundancy problem in the phase of modal conversion flight.A simulation study on the conversion of modal longitudinal dynamic system of the aircraft is carried out and the results show that this method can ensure The aircraft can perform modal conversion flight exactly according to a predetermined trajectory, and has good robustness to perturbation of aerodynamic parameters existing in the model, and can effectively suppress external disturbances such as gusts.