倾转旋翼无人机最优过渡倾转角曲线

周玙; 刘莉

doi:10.13700/j.bh.1001-5965.2019.0073

倾转旋翼无人机最优过渡倾转角曲线

doi: 10.13700/j.bh.1001-5965.2019.0073

周玙,
刘莉^,

北京理工大学宇航学院, 北京 100081

详细信息

作者简介:
周玙男, 硕士研究生。主要研究方向:飞行器总体设计、飞行器控制

刘莉女, 教授, 博士生导师。主要研究方向:飞行器总体设计

通讯作者:
刘莉.E-mail:liuli@bit.edu.cn

中图分类号: V249.12
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- 被引次数: 0
出版历程
- 收稿日期: 2019-03-01
- 录用日期: 2019-05-27
- 网络出版日期: 2019-11-20

Optimal transition tilt angle curve of tiltrotor UAV

ZHOU Yu,
LIU Li^,

School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

More Information

Corresponding author: LIU Li, E-mail: liuli@bit.edu.cn

摘要

摘要:
建立了典型三点式倾转旋翼无人机动力学模型，针对过渡过程，开展最优倾转角曲线研究以减小横侧控制耦合对纵向运动影响和过渡过程能耗。基于倾转角曲线对过渡过程的影响分析，提出了改进运动剖面算法对倾转角曲线进行参数化设计；并提出两阶段优化方案来对参数进行优化。第1阶段，综合考虑横侧控制耦合度最低和过渡过程能耗最小目标，以曲线参数为优化变量，构建了最优倾转角问题模型，采用遗传算法进行优化求解。第2阶段，引入舵机动力学模型，考虑过渡时间和系统超调进一步优化以减小结束阶段的超调。与2种现有典型倾转角曲线对比结果表明：给定过渡时间，设计的最优倾转角曲线有效地降低横向控制耦合程度和过渡过程的能耗，且减小结束时超调。
- 倾转旋翼 /
- 过渡过程 /
- 倾转角曲线 /
- 遗传算法 /
- 横侧控制耦合度
Abstract:
A dynamic model of a typical tri-tiltrotor UAV was established. The optimal tilt angle curve in the transition process was studied to reduce the influence of lateral coupling on longitudinal motion, and energy consumption. Based on the analysis of the influence of the tilt angle curve on the transition process, a improved motion profile algorithm was proposed to parameterize the tilt angle curve. A two-phase optimization scheme was proposed to optimize parameters. In the first phase, the minimum coupling degree of lateral control and the minimum energy consumption of the transition process are considered. The optimal tilt angle problem model was constructed by using the curve parameters as the optimization variables.The optimal tilt angle problem was solved by genetic algorithm. In the second phase, a servo dynamics model was introduced for further optimization to reduce the overshoot in the end-stage considering transition time and system overshoot. The results of comparison with the three existing typical tilt angle curves show that, in given transition time, the proposed optimal tilt angle curve effectively reduces the lateral control coupling degree and the energy consumption during the transition process, and reduces the overshoot at the end of the transition.
- tiltrotor /
- transition process /
- tilt angle curve /
- genetic algorithm /
- coupling degree of lateral control

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图 1 飞行器动力布局

Figure 1. Aircraft dynamic layout

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图 2 飞行走廊曲线

Figure 2. Curve of flight corridor

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图 3 运动剖面算法曲线^[6-7]

Figure 3. Curves of motion profile algorithm^[6-7]

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图 4 改进运动剖面曲线

Figure 4. Curves of improved motion profile

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图 5 种群平均适应度曲线

Figure 5. Curve of population's mean fitness

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图 6 倾转角曲线

Figure 6. Curve of tilt angle

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图 7 前飞速度曲线

Figure 7. Curve of forward velocity

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图 8 无减速段舵机输出

Figure 8. Servo output in non-deceleration section

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图 9 不同参数μ₂下舵机输出

Figure 9. Servo output with different μ₂

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图 10 调节时间与参数μ₂关系

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图 11 加权相交法

Figure 11. Weighted intersection algorithm

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图 12 Curve of optimal tilt angle

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图 13 最优速度曲线

Figure 13. Curve of optimal velocity

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表 1 飞行器参数

Table 1. Aircraft parameters

参数	数值
巡航速度/(m·s^-1)	33
巡航迎角/(°)	5
尾部电机平衡倾角/(°)	10
升降舵平衡舵偏角/(°)	6
飞行器质量/kg	5
单发最大推力/N	26
升力系数	0.178 8
阻力系数	0.044 1
机翼面积/m²	0.4
俯仰发动机力臂(前、后)/m	0.4
发动机横侧力臂	0.18
气动俯仰力矩系数	0.00 086 75
平均气动弦长/m	0.16

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表 2 初始约束条件

Table 2. Initial constraint condition

参数	μ₁	μ₂
数值	[0°, 90°]	[μ₁, 90°]	[0, 9](°)/s

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表 3 遗传算法优化后参数

Table 3. Genetic algorithm optimized parameters

参数	μ₁/(°)	μ₂/(°)	/((°)·s^-1)
数值	45.15	90	9

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表 4 3种倾转曲线对比结果

Table 4. Result of three tilt curves caparsion

参数	匀速倾转	未优化“S”形曲线	本文结果
耦合大小	8.94	14.36	7.10
阻力做功	4 076.7	5 218.0	2 798.9
最大超调量	4.888 6	0.039 1	0.128 3

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