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针对倾转旋翼机过渡阶段的强耦合性和快时变性,基于隐模型跟踪法设计了过渡阶段的自主飞行控制律。首先,考虑短舱和旋翼相对机身运动带来的额外惯性力,建立了倾转旋翼机的多体动力学模型;然后,通过飞行动力学特性分析发现倾转旋翼机过渡阶段具有强耦合性和快时变性;最后,针对强耦合性使用隐模型跟踪法实现了固定倾转角时的解耦控制,针对快时变性使用插值调用控制参数的方法实现了倾转旋翼机在整个过渡阶段的连续控制。仿真结果表明,隐模型跟踪控制系统能够达到良好的速度和轨迹跟踪效果,可以实现倾转旋翼机在过渡阶段的自主飞行仿真。
Aiming at the strong coupling and fast time-varying of the rotor in the transitional phase, an autonomous flight control law in transition phase is designed based on implicit model tracking method. Firstly, considering the additional inertial force of the nacelle and the rotor relative to the fuselage movement, a multi-body dynamic model of the tilting rotorcraft is established. Then, by the analysis of flight dynamics, it is found that the rotorcraft has strong coupling during the transitional phase And fast degeneration. Finally, the implicit model tracking method for strong coupling is used to realize the decoupling control at fixed tilting angle. For the rapid degeneration, interpolation control parameters are used to achieve the continuous tilting rotorcraft throughout the transitional period control. The simulation results show that the implicit model tracking control system can achieve good velocity and trajectory tracking effect, and can realize autonomous flight simulation of tilting rotorcraft in the transitional phase.