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摘要:
为解决传统过渡走廊中忽略系统动态特征、缺少迎角信息、难以直接用于过渡路径规划的问题，提出一种适用于倾转动力类无人机的三维过渡走廊建立方法。所提方法从物理约束角度限制飞行速度与倾转角度边界，从飞行力学角度限制全机升力特性边界，从能源配置角度限制动力系统功率边界，从而建立关于飞行速度、倾转角度与迎角的三维过渡走廊，并且设计综合性能指标函数用于描述走廊内各飞行路径点的性能。基于所建三维过渡走廊采用鸽群优化算法完成最优过渡路径的搜索工作。结果表明：所建三维过渡走廊能够更加具体地描述可用飞行范围，其不仅包括传统过渡走廊的飞行速度与倾转角度，同时还包含迎角与性能指标信息，这为过渡路径规划提供基础；鸽群优化算法具有良好的过渡路径优化能力，通过优化使无人机拥有良好的飞行效果，动力系统油门杆量变化平稳、幅值较小，证明使用三维过渡走廊指导过渡飞行与规划过渡路径的可行性。
Abstract:In this paper, a three-dimensional transition corridor establishment method suitable for tilt-propulsion kind unmanned aerial vehicle is proposed to solve the problem that the dynamic characteristics are ignored and the angle of attack information is missing in the traditional transition corridor, which makes it difficult to be directly used in transition path planning. In order to establish the three-dimensional transition corridor about flight speed, tilt angle, and angle of attack, the proposed method limits the boundaries of lift characteristics of the entire aircraft from the perspective of flight mechanics, the power boundary of the propulsion system from the perspective of energy allocation, and the boundary of flight speed and tilt angle from the perspective of physical constraints. Then, a comprehensive performance function is designed to describe the performance of each flight path point in the corridor. Based on this three-dimensional transition corridor, the pigeon-inspired optimization algorithm is used to complete the search for the optimal transition path. The findings indicate that the three-dimensional transition corridor could serve as a foundation for the transition path planning and more precisely characterize the available flight envelope, which includes information on the angle of attack, performance index, and flight speed in addition to the traditional transition corridor's tilt angle and flight speed. The optimal transition path makes the unmanned aerial vehicle have a good flight effect, the throttle lever of the propulsion system is adjusted smoothly and the amplitude is small, which proves the feasibility of using the three-dimensional transition corridor to guide the transition flight and plan the transition path.
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图 2 倾转动力无人机3种飞行模式
Figure 2. Three flight modes of tilt-propulsion unmanned aerial vehicle
图 11 三维过渡走廊速度-倾转角关系图
Figure 11. Relationship between flight speed and tilt angle of 3D transition corridor
图 12 三维过渡走廊飞行速度-迎角关系图
Figure 12. Relationship between flight speed and attack angle of 3D transition corridor
图 13 三维过渡走廊倾转角度-迎角关系图
Figure 13. Relationship between tilt angle and attack angle of 3D transition corridor
图 14 基于综合性能指标函数的三维过渡走廊
Figure 14. Three-dimensional transition corridor based on comprehensive performance index function
图 17 基于三维过渡走廊的最优过渡路径
Figure 17. Optimal transition path based on 3D transition corridor
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