Study on the transition mode attitude control and optimal tilt angle curve of quad-tiltrotor
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摘要:
结合滑模理论与干扰观测器设计了倾转四旋翼机倾转过渡走廊动态飞行完整控制律，使用遗传算法对倾转四旋翼机过渡飞行状态的倾转角曲线进行优化，在时域仿真环境中以倾转角作为旋翼控制器和固定翼控制器的权重因子进行操纵分配，对控制系统进行时域响应分析，将倾转角曲线优化前后的姿态角响应进行对比。仿真实验结果表明所设计的控制器动态性能良好（响应速度快）、鲁棒性强，利用遗传算法对倾转四旋翼机倾转角曲线优化，能进一步降低过渡飞行过程中横向及侧向发生的操纵耦合影响，提高了过渡模式的转换效率，降低了倾转四旋翼机的姿态波动。其中，倾转状态达到滚转角和俯仰角极值状态的时间明显缩短，滚转角处于极值附近时间明显缩短，倾转全过程偏航角的变化幅值降低25%、飞行高度的变化幅值仅为0.75 m。
Abstract:The complete control law of quad-tiltrotor dynamic flight in the tilting transition corridor was designed by combining the sliding mode theory and interference observer. The tilt angle curve of quad-tiltrotor in the transition flight state was optimized by using genetic algorithm. In the time domain simulation environment, the tilt angle was used as the weight factor of the rotor controller and the fixed wing controller for control assignment. The time-domain response of the control system was analyzed, and the attitude responses before and after the tilt angle curve optimization were compared. The simulation results showed that the designed controller had good dynamic performance (fast response speed) and strong robustness. The effects of horizontal and lateral maneuvering coupling during transition flight were further reduced; the conversion efficiency of transition mode was improved and the attitude fluctuation of quad-tiltrotor was reduced. Thus, the time to reach the extreme values of roll and pitch angles during tilting state significantly decreased, the change amplitude of yaw angle throughout the tilt process was reduced by 25%, and the amplitude of flight altitude change was only 0.75 m.
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图 6 低速段倾转角-速度包线计算流程图
Figure 6. Calculation flowchart for tilt angle-velocity envelope in the low-speed regime
图 8 倾转四旋翼机过渡模式控制系统框图
Figure 8. Control system block diagram of quad-tiltrotor in transition mode
图 12 倾转过程俯仰角时域响应
Figure 12. Time-domain response of pitch angle during the tilting process
表 1 倾转角曲线参数优化结果
Table 1. Optimization results of tilt angle curve parameters
${\beta _{{\text{nac,max}}}}$ $ \beta_{\mathrm{f}1} $ $ \beta_{\mathrm{f}2_{ }} $ $\dfrac{{\text{π}} }{9}$ $\dfrac{{24{\text{π}} }}{{50}}$ $\dfrac{{\text{π}} }{{10}}$ 
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