Coordinated control of transition flight position and attitude for a quad tilt-rotor UAV
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摘要:
针对四倾转旋翼无人机倾转过渡飞行控制问题，提出一种基于指定时间预设性能控制（ATPPC）的过渡飞行位姿协调控制方法。分析四倾转旋翼无人机六自由度非线性运动/动力学模型，完成仿射非线性处理；为准确呈现倾转过程与气动特性的关系，在传统的“短舱角-飞行速度”二维过渡走廊的基础上，增加迎角为过渡走廊的第三维度，建立“短舱角-飞行速度-迎角”三维安全过渡走廊，通过合理匹配飞行速度、短舱倾角与迎角确保无人机的过渡安全；针对倾转过渡过程中的固定翼/旋翼异构冗余操纵高效分配问题，采用序列二次规划算法，将操纵分配问题转化为带有多约束条件的非线性优化问题，通过求解优化问题最优解，实现控制力和力矩到旋翼转速、舵面等执行机构的准确映射；通过在三维过渡走廊内设计一条安全剖面作为位姿协调控制指令，将所提控制方法与非线性动态逆方法进行对比仿真实验。结果表明：所提控制方法在实现四倾转旋翼无人机过渡飞行控制方面不仅具有可行性，而且相较于传统方法，具有更显著的优势。
Abstract:Abstract: In this paper, a coordinated control method for transition flight position and attitude based on appointed-time prescribed performance control（ATPPC） is proposed for the tilt transition flight control problem of quad tilt-rotor UAVs. Firstly, establish a six degree of freedom nonlinear motion/dynamics model for a quad tilt-rotor UAV and complete affine nonlinear processing. Second, a three-dimensional safe transition corridor of "nacelle angle flight speed angle of attack" is established to ensure the transition safety of the UAV through reasonable matching of flight speed, nacelle inclination angle, and angle of attack. This is done by adding the angle of attack as the third dimension to the traditional two-dimensional transition corridor of "nacelle angle flight speed" in order to accurately present the relationship between the tilting process and aerodynamic characteristics with these characteristics. Then, in response to the efficient allocation problem of the fixed wing/rotor heterogeneous redundant control during the tilt transition process, a sequential quadratic programming algorithm is used to transform the control allocation problem into a nonlinear optimization problem with multiple constraints. By solving the optimal solution of the optimization problem, accurate mapping of control force and torque to the rotor speed, rudder surface, and other executing mechanisms is achieved. On this basis, a position and attitude coordination control method for quad tilt-rotor UAVs based on appointed-time prescribed performance control is proposed, and the stability of the closed-loop system is analyzed. Finally, a safety profile is designed within the three-dimensional transition corridor as a position and attitude coordination control command. The proposed control method is compared with the nonlinear dynamic inverse method in simulation experiments. The findings shown that the suggested approach provides benefits over conventional techniques in addition to being practical for attaining transition flight control of quad tilt-rotor UAVs. -
图 5 SQP算法求解异构操纵问题流程
Figure 5. Flow of SQP algorithm for solving heterogeneous manipulation problems
图 6 四倾转旋翼无人机过渡飞行控制框图
Figure 6. Block diagram of quad tilt-rotor UAV transition flight control
图 10 $ {V}_{x}、\gamma 、\alpha $指令与跟踪三维曲线
Figure 10. 3D curve of $ {V}_{x}、\gamma 、\alpha $ instruction and tracking
图 15 $T$与${\boldsymbol{M}}$指令与跟踪曲线
Figure 15. $T$ and ${\boldsymbol{M}}$ instruction and tracking curves
表 1 四倾转旋翼无人机过渡飞行期望指令
Table 1. Desired commands for transition flight of quad tilt-rotor UAV
短舱角$\gamma $/(°) 速度指令${V_x}$/(m·s−1) 角位置$\theta $/(°) 0 32 2 10 30 1 20 28 1 30 26 1 50 20.06 2 65 16.12 3 90 0 0 
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表 2 四倾转旋翼无人机参数
Table 2. Parameters of quad tilt-rotor UAV
参数 数值 飞行高度$H$/m 1000 无人机质量${{m}}$/kg 100 参考面积${S_{{\mathrm{ref}}}}$/m2 2.317 平均气动展长$b$/m 1.5 平均气动弦长$\bar c$/m 0.55 旋翼转速范围$\omega $/(r·min−1) 0～ 5500 舵面偏转范围${\delta _u}$/(°) −20～20
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表 3 四倾转旋翼无人机过渡飞行控制参数
Table 3. Transition flight control parameters of quad tilt-rotor UAV
参数 数值 NDIC的控制增益 ${{\boldsymbol{K}}_1} = {\mathrm{diag}}\left( {0.8,0.8} \right),{{\boldsymbol{K}}_2} = {\mathrm{diag}}\left( {6,6} \right)$
${K_{V_x}} = 2,{{\boldsymbol{K}}_3} = {\mathrm{diag}}\left( {9,9,9} \right)$, ${{\boldsymbol{K}}_4} = {\mathrm{diag}}\left( {40,40,40} \right)$NDIC的DSC
时间常数${\tau _2} = {\tau _4} = 0.005$ ATPPC的控制增益 ${{\boldsymbol{K}}_1} = {\mathrm{diag}}\left( {0.8,0.8} \right),{{\boldsymbol{K}}_2} = {\mathrm{diag}}\left( {6,6} \right)$
${K_{V_x}} = 2,{{\boldsymbol{K}}_3} = {\mathrm{diag}}\left( {9,9,9} \right)$
${{\boldsymbol{K}}_4} = {\mathrm{diag}}\left( {40,40,40} \right)$, ${\varepsilon _1} = 0.01$,${\varepsilon _3} = 0.06$ATPPC的DSC
时间常数${\tau _2} = {\tau _4} = 0.005$ ATPPC指定时间 ${T_{{\text{con}}}}{\text{ = }}20$ 操纵分配权重${{\boldsymbol{W}}_1}$ ${\mathrm{diag}}\left( {1,15,60,10} \right) \times {10^4}$ 操纵分配权重${{\boldsymbol{W}}_2}$ $ \left\{ \begin{gathered} 100{\mathrm{diag}}(1,1,1,1,1,1,1) \qquad 0 ^\circ \leqslant \gamma \leqslant 60^\circ \\ 100{\mathrm{diag}}(1,1,1,1) \qquad \qquad \;\; 60 ^\circ < \gamma \leqslant 90^\circ \\ \end{gathered} \right. $
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