Control strategy design for the transitional mode of tiltrotor UAV
Focusing on the transitional mode of tiltrotor UAV, which is nonlinear, strongly coupled and uncertain due to its complexity in layout, structure and aerodynamic peculiarity, a control strategy is designed and proposed. First, considering of the aerodynamics of rotor and its tilt machinery, the mathematic model of this kind of UAV is presented. Then, the reasonable anticipant global trajectory is framed based on the force and moment balance relationship of transitional mode. The control loop structure based upon time-scale separation is developed. And then, the dynamic model inversion technique based on reference model tracking is applied to linearize the object and eliminate the coupled factors, and the unknown disturbances are estimated and compensated by extended-state-observer (ESO). Finally, the mapping between the virtual effectors and the actual effectors is realized by dynamic control allocation. The simulation results show that the anticipant movement and mode conversion of tiltrotor UAV can be realized properly, and the method has strong robustness.
UAV tiltrotor transitional mode dynamic inversion extended-state-observer
Xiaoxing Fang Qing Lin Yingxun Wang Lili Zheng
School of Automation Science and Electrical EngineeringBeihang UniversityBeijing, China School of Automation Science and Electrical Engineering Beihang University Beijing, China
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
248-253
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）