Thrust vector type short-distance vertical take-off and landing aircraft hovering control method and device

By establishing a hovering dynamics model of a thrust-vectoring short-distance vertical take-off and landing aircraft, designing a reconstructed controller and an extended state observer, and using high-order all-wheel drive system theory to reconstruct and decouple the model, the complexity and robustness problems of the hovering control methods in the existing technology are solved, and stable control and efficient decoupling of the aircraft hovering are achieved.

CN120704355AActive Publication Date: 2025-09-26TSINGHUA UNIVERSITY
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Patent Information

Application Number
CN202510854036.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-06-24
Publication Date
2025-09-26
Estimated Expiration
2045-06-24

AI Technical Summary

Technical Problem

In the existing technology, the hovering control method based on dynamic inversion is difficult to achieve efficient decoupling and robust control of multiple actuators in the aircraft system due to the complex model linearization, the control allocation relying on the precise performance matrix, and the unpredictable closed-loop performance.

Method used

By establishing a hovering dynamics model of a thrust vectoring short take-off and landing aircraft, designing a reconstruction controller, a hovering controller and an extended state observer, and using high-order all-wheel drive system theory to reconstruct and decouple the model, the controller design process is simplified and the robustness is enhanced.

Benefits of technology

It achieves stable control of aircraft hovering, simplifies the model processing process, improves the design efficiency and dynamic response performance of the controller, and reduces the dependence on precise mathematical models.

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Abstract

The invention relates to the technical field of flight control, in particular to a thrust vector type short-range vertical take-off and landing aircraft hovering control method and device, and the method comprises the steps: building a thrust vector type short-range vertical take-off and landing aircraft hovering dynamic model based on the nonlinear relation of the aircraft speed, the Euler angle, the angular speed, the thrust and the torque; designing a reconfiguration controller of a power system of the thrust vector type short-range vertical take-off and landing aircraft, and designing a hovering controller of the thrust vector type short-range vertical take-off and landing aircraft; designing an extended state observer used for estimating a nonlinear term and a state derivative in the hovering dynamics model; and feeding back the estimated nonlinear term and the estimated state derivative of the extended state observer to a hovering controller so as to carry out hovering control on the thrust vector type short-distance vertical take-off and landing aircraft. Therefore, the problem that efficient decoupling and robust control of multiple execution mechanisms in an aircraft system are difficult to realize by a dynamic inverse-based hovering control method in related technologies is solved.
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