三倾转旋翼无人机直升机模式建模与控制研究

Modeling and Helicopter Mode Control of a Tilt Tri-Rotor UAV

摘要:

针对一种新型三旋翼构型的倾转旋翼无人机的直升机模式控制问题进行研究,采用牛顿欧拉法对这种新型三旋翼构型的倾转旋翼无人机直升机模式进行了详细的动力学建模分析,建立了该无人机悬停模式6自由度非线性模型;在对该模型进行线性化的基础上,设计了这种三倾转旋翼无人机直升机模式下的高度、俯仰通道、滚转通道以及偏航通道的PID控制器,并在Matlab/Simlink环境下建立其仿真模型,对所设计的控制算法进行验证;实验结果表明,所设计的控制器能够满足系统的控制性能要求。

Abstract:

Aiming at resoleving the helicopter mode control of a new tri-rotor configuration tiltrotor UAV , the Newton-Euler method was used for this new tilt tri-rotor UAV configuration helicopter mode for a detailed analysis of dynamics modeling, then, established the 6-DOF nonlinear model of the UAV’s helicopter mode. After Linearized the model , the PID controllers of the UAV’s helicopter mode were designed , the simulation model was established in Matlab / Simlink environment to verify the control algorithm. Experimental results showed that the designed controllers could meet the performance requirements of the control system.