Vertical take-off and landing control method for quad-tilt-rotor unmanned aerial vehicle

A tilting quadrotor, vertical take-off and landing technology, applied in attitude control and other directions, can solve the problem of difficult control of tilting rotor drones, and achieve good control effect

Inactive Publication Date: 2014-06-18
SOUTHEAST UNIV
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Due to the uncertainty of the model, the cont

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  • Vertical take-off and landing control method for quad-tilt-rotor unmanned aerial vehicle
  • Vertical take-off and landing control method for quad-tilt-rotor unmanned aerial vehicle
  • Vertical take-off and landing control method for quad-tilt-rotor unmanned aerial vehicle

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] Such as figure 1 As shown in , the four rotors of the aircraft are at the same distance from the center of mass of the body. f p is the deflection force produced by the airflow on the aileron. f p and the airflow velocity, deflection angle Θ of each aileron fp relevant. Assume that when yawing, the roll angle and pitch angle of the aircraft are both 0°, so the rotation speed of the four rotors remains unchanged; in this way, the effect of airflow changes is negligible compared with the effect caused by the aileron deflection angle. From the above assumptions, f p only subject to Θ fp Impact. Let M z is the yaw moment, L is the distance from the center of the wing to the center of mass, and the ray formed from the center of mass of the body to the center of the rotor forms an angle Ψ of 45° with the direction pointed by the nose. A moment produced by an...

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Abstract

The invention discloses a vertical take-off and landing control method for a quad-tilt-rotor unmanned aerial vehicle. Firstly, a control platform for the quad-tilt-rotor unmanned aerial vehicle is constructed, and posture data are collected by using various sensors comprehensively. Specific to different models of yaw angles and roll angles, the invention discloses a control method based on linear secondary optimization and a control method based on model reference slip form. The method comprises the following steps: (1) performing dynamics analysis on the aerial vehicle to obtain a yaw angle model and a roll angle model, and identifying a system to obtain model parameters; (2) designing a yaw angle controller and a roll angle controller respectively on the basis of the models; (3) acquiring a posture measuring system by using various sensors; (4) performing real-time posture control on the quad-tilt-rotor unmanned aerial vehicle by using the control method in the step (2) and measured data of the posture measuring system obtained in the step (3).

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an aircraft control method based on linear quadratic optimal control theory and model reference sliding mode control theory. Background technique [0002] Due to its remote control, flexibility and other advantages, unmanned aerial vehicle has been developed rapidly in the near future. UAVs are broadly divided into two categories: fixed-wing UAVs and rotary-wing UAVs. Although the conventional fixed-wing UAV has the advantages of fast speed and long range, it must rely on the runway and cannot take off and land vertically. The rotor UAV is a vertical take-off and landing (VTOL) aircraft with excellent performance. It has the advantages of small size, vertical take-off and landing, strong maneuverability, simple structure, easy control, and high stability. There are big restrictions. Tilt-rotor UAV is a new type of small UAV that combines the advantages of fixe...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 孙长银王伟王庆王兵余瑶
Owner SOUTHEAST UNIV
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