推力矢量无人机尾坐式垂直起降控制
Tail-sitter vertical takeoff and landing control for thrust-vectored unmanned aerial vehicle

本文研究推力矢量无人机尾坐式垂直起降的控制方法. 为解决欧拉角奇异的问题, 提出了水平/垂直欧拉 角综合姿态解算方法. 为了获得快速响应又防止超调, 控制器采用线性/恒加速度逼近和角速率限幅积分逼近控制 方法, 并且在最终输出舵偏时进行了反扭矩补偿. 此外, 本文提出了一种特殊的数据融合算法, 该算法通过迭代计算 保证了高度数据的准确性. 由于尾坐式起降时机体姿态和高度具有强耦合关系, 本文设计了一种基于滤波前馈加 速度算法的高度控制器. 尾坐式起降试验结果验证了本文所述控制方法的有效性.
The tail-sitter vertical takeoff and landing control for a thrust-vectored UAV (unmanned aerial vehicle) is discussed. To avoid the problem of Euler angles singularity, we propose a method for obtaining the composite attitude representation for horizontal/vertical Euler angles. To obtain the fast response while preventing the overshoot, in the controller we employ the linear/constant acceleration approximation as well as the amplitude-limited angular rate integration approximation, and adopt an anti-torque compensation to the final deviations in servo angles. In addition, a special data fusion algorithm using iterative calculations is proposed to ensure the accuracy for the altitude data. To deal with the strong coupling between the altitude and attitude of the vehicle in tail-sitter takeoff and landing, we design an altitude controller based on the filtered feedforward acceleration algorithm. Experimental results of tail-sitter takeoff and landing validate the effectiveness of the proposed control method.