小型混合翼无人机过渡过程一体化建模与控制

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1、2()19年4月第39卷第2期Apr., 2() 19Vol.39tNo.2宇航计测技术Joumal of Astronautic Metrologyr and Measurement文章编号：1000-7202( 2019) ()2-(X)27-()5DOI: 10.12060/j.issn. 1(X)0-7202.2019.02.062()19年4月第39卷第2期Apr., 2() 19Vol.39tNo.22()19年4月第39卷第2期Apr., 2() 19Vol.39tNo.2小型混合翼无人机过渡过程一体化建模与控制王博豪I张勇2”徐伟程I郭锦(1.南京航空航天大学自动化学院，南京2

2、10016；2.南京航空航天大学无人机研究院，南京21(X)16；3.中小型无人机先进技术工业和信息化部重点实验室，南京210016)扌商要混合翼垂盲紀降无人机解决了普通固定翼无人机无法垂盲抚降以及旋翼无人机航时航程小的问 题针对旋翼与固定翼结合的混合翼可垂直起降无人机系统，将过渡过程中旋翼部分和固定翼部分进行一体化结 合推导了混合翼无人机过渡过程非线性动力学方程组。通过对得到的无人机纵向气动模型进行稳定性分析设 计了基于采用LQR( Linear Quadratic Regulator)的增益i周度跟踪控制器 结果表明i殳计的控制器能使无人机状态 进行良好的跟踪。垂直起降逮模增益调度线性二次

3、型调节器2()19年4月第39卷第2期Apr., 2() 19Vol.39tNo.22()19年4月第39卷第2期Apr., 2() 19Vol.39tNo.2中图分类号:V249文献标识码川Integrated Modeling and Control of Small HybridWing UAV Transient ProcessWANG Bo-hao1 ZHANG Yong2 3 XU Wei-cheng1 GUO Jin1(1Manjing University of Aeronautics & Astronautics Automation College9Nanjing 2100

4、16.China；2.1 Research Institute of Pilotless Aircraft, Nanjing University of Aeronautics and Astronautics Nanjing, Nanjing 210016, China；3. Key LalM)ratory, of Unmaniul ATial Vehicle Technology, Nanjing University of /Aeronautics and Astronautics, Minislry ofIndustand Information Technology, Nanjing

5、 210016. China)Abstract The hybrid wing vertical lake-off and landing UAV solves the problem that the fixed wing UAVs can not vertical take-off and landing9 and the small flight time of the rotor unmanned aerial vehicle (L AV). A hybrid wing combined with a fixed wing can be used for a vertical lake

6、-off and landing unmanned aerial vehicle ( UAV) system. A six degree of freedom nonlinear dynamic equation is derived from the integration of the rotor and the fixed wing in the transition process. Tlie stability of die longitudinal aenxlynamic model is analyzed, and a gain scheduling tracking contr

7、oller based on LQR ( Linear Quadratic Regulator) is designed. Pile results show that the designed controller can track the UAV state very well.Key words Vertical take-off and landing Modeling Gain scheduling LQK收稿日期：2018-07-17基金项目：中央高校基本科研业务费专项资金资助 tNo.NJ2018015.supported by the Fundamental Researrh Funds for the Onlral l niveiHitiesM .NO.NJ2OI8O15作者简介:王博豪(1993-).男硕士研究生主要研究方向：飞行器控制。