Control method for detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle

A technology of vertical take-off and landing and control method, which is applied in the direction of aircraft control, unmanned aircraft, rotorcraft, etc., can solve the problems of high control system requirements, complex control structure, uncertain parameters, etc. The effect of high speed and redundant control mechanisms

Active Publication Date: 2017-10-20
BEIHANG UNIV
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Problems solved by technology

[0005] Aiming at the problems of complicated control structure and high requirements of the control system of the existing vertical take-off and landing UAV, the present invention p

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  • Control method for detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle
  • Control method for detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle
  • Control method for detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle

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[0047] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0048] The present invention designs a detachable hybrid drive vertical take-off and landing unmanned aerial vehicle. The hybrid type refers to the power propulsion part including two parts. Among them, the power part consists of two parts, one is the vertical four motors providing lift during vertical take-off, and the other part is the tail thrust motor during the cruise. The control part consists of two parts, one is the vertical take-off and landing stage using lift motors for height and attitude control, the other is the level flight stage tail thrust motor for speed control, rudder and elevator for attitude control. It can be seen that the hybrid drive vertical take-off and landing UAV integrates the advantages of rotary-wing UAV and fixed-wing UAV.

[0049] Based on the current vertical take-off and landing drones, the design difficulties of the drone pro...

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Abstract

The invention provides a control method for a detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle and belongs to the field of structural design of aircrafts. A vehicle body pod is detachable, the sizes and weights of vehicle body pods corresponding to different functions are different, and therefore the high requirement of a whole control system for robustness under the situation of the uncertain weight and rotational inertia parameters of a vehicle body is put forward. According to the control method, aiming at the unmanned aerial vehicle with the detachable vehicle body pod, the speed is controlled through an adaptive sliding mode control scheme, the attitude angle is controlled through a robust adaptive control strategy based on a backstepping approach and feedforward control, thus a controller has the high robustness and adaptive ability when structural parameters and aerodynamic parameters of the unmanned aerial vehicle are changed, operation of the unmanned aerial vehicle with the long endurance and the long flying range is achieved.

Description

technical field [0001] The invention belongs to the field of aircraft structure design, and relates to a control method for a detachable hybrid drive vertical take-off and landing unmanned aerial vehicle. Background technique [0002] A vertical take-off and landing aircraft refers to an aircraft that can take off and land at zero speed, has the ability to hover at a fixed point, and can fly horizontally in the manner of a fixed-wing aircraft. The birth background of the vertical take-off and landing technology of aircraft comes from the needs of war. On the battlefield, it is required that the aircraft can still take off and land even if the runway is destroyed, so the vertical take-off and landing technology of fixed-wing aircraft has been born. [0003] Compared with traditional fixed-wing aircraft, vertical take-off and landing aircraft has no dependence on runways and has the advantage of being able to hover. Compared with traditional helicopters or multi-rotor aircra...

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Application Information

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IPC IPC(8): B64C27/28B64D47/08B64C9/02
CPCB64C9/02B64C27/28B64D47/08B64U70/80B64U30/20
Inventor 于江龙李清东张远冯山左翩翩于耀中王忆宁杨晨向杰
Owner BEIHANG UNIV
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