A strong robust full-envelope integrated control method for tilt-rotor UAV
A strong and robust tiltrotor technology, applied in vehicle position/route/altitude control, control/regulation system, non-electric variable control, etc., can solve problems such as threats to flight safety, aircraft state fluctuations, and discontinuity , to achieve the effect of improving robustness, reducing manipulation burden, and realizing precise control
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[0101] The first step is to map the commands of the remote controller or ground station into manipulation commands of the controlled state quantity.
[0102] The mapped manipulation instructions are:
[0103] the y p =[th f h c φ c θ c r c ] T (2)
[0104] Among them, th f Indicates the throttle command for forward flight. The physical meaning is the projection of the total throttle command of the tiltrotor on the x-axis direction of the body axis. When the controlled UAV is in multi-rotor mode, th f zero; H c Indicates height command; φ c Indicates the roll angle command; θ c Indicates pitch angle command; r c Indicates the yaw rate command.
[0105] The second step is to produce reference instructions that conform to the physical characteristics of the controlled UAV according to each manipulation instruction.
[0106] The reference models of the altitude command, the pitch angle command and the roll angle command are all second-order reference models, and...
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