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
CN111522356BActive Publication Date: 2021-06-04BEIHANG UNIV
15 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIHANG UNIV
Publication Date
2021-06-04

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a strong and robust full-envelope integrated control method for a tilt-rotor UAV. On the basis of INDI control, combined with envelope protection, hierarchical control distribution, and integrated control of height and attitude, single control can be realized Unified control of the entire flight envelope by the controller. This control method can effectively deal with the problem of control quality degradation caused by the nonlinear time-varying characteristics of the tilt-rotor UAV, and realize the precise control of the height and attitude of the tilt-rotor UAV. This control method can greatly reduce the dependence of controller parameters on the accuracy of the UAV model, and improve the robustness of the controller to model mismatch and external disturbances. Different from the traditional segmented tiltrotor control mode, the present invention adopts an integrated control structure, which can avoid artificially introducing discontinuity of control parameters or control signals, and improve flight safety and controller integration.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to the technical field of unmanned aerial vehicle flight control, in particular to a strong robust full-envelope integrated control method for a tilt-rotor unmanned aerial vehicle. Background technique

[0002] Traditional UAVs can be basically divided into two types according to their configuration: fixed-wing UAVs and helicopter / multi-rotor UAVs. Fixed-wing UAVs have high flight speed and strong endurance, but runway facilities are required for take-off and landing, and the conditions of use are limited. Helicopter / multi-rotor drones have vertical takeoff and landing and air hovering capabilities, but their flight speed is low, and their range and endurance are short. In recent years, new short-range / vertical take-off and landing UAVs represented by tilting rotor aircraft have gradually emerged. This new type of UAV combines the respective advantages of fixed-wing aircraft and helicopters / multi-rotors, and has a wider flight en...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More