| Citation: | YU Xin, ZHAO Yanqin, CHEN Renliang, et al. Tiltrotor aircraft automatic conversion control adapted to lift and thrust regulation[J]. Journal of Aerospace Power, 2025, 40（10）：20240479 doi: 10.13224/j.cnki.jasp.20240479
|
An automatic transition control method considering aircraft lift and thrust characteristic was proposed, and the effectiveness was evaluated by measurement of pilot workload. The lift and thrust between rotor and wing in conversion corridor were analyzed through steady-state calculation, and a desired conversion path and nacelle rate distribution in different phases were planned. The collective pitch and angle of attack were introduced to adjust the rotor lift and thrust and wing lift respectively to match the desired path. In the control structures of collective pitch and angle of attack, feedforward and command schedule of static path parameters were introduced to adapt to the lift and thrust characteristics of the aircraft, and the error between static planning and dynamic tilting was eliminated by combining conquer altitude feedback. A pilot model was introduced and the workload was quantified by wavelet analysis. Compared with the maneuver executed by a pilot, the automatic transition control can effectively reduce the pilot workload, the maximum energy amplitudes of the collective and longitudinal inputs were reduced by 33% and 27%, respectively. And the frequency components of both controls were reduced to below 0.8 rad/s, indicating level 1 handling quality rating. Meanwhile, the automatic transition control eliminated the dynamic error effectively, with smaller tracking error of desired path and height variation.
| [1] |
YUAN Ye, THOMSON D, ANDERSON D. Application of automatic differentiation for tilt-rotor aircraft flight dynamics analysis[J]. Journal of Aircraft, 2020, 57(5): 985-990. doi: 10.2514/1.C035811
|
| [2] |
WILSON E, PRAZENICA R J. Autonomous autorotation of tilt rotor aircraft using nonlinear model predictive control [C]//Proceedings of AIAA SciTech 2020 Forum. Williamsburg, US: American Institute of Aeronautics and Astronautics, 2020: 1488.
|
| [3] |
WALZ C, BRICK S, BAUER C, et al. Nacelle control augmentation for tiltrotor flight directors [C]// Proceedings of 55th American helicopter society Annual forum. Montreal, Canada, US: American Helicopter Society, 1999: 1477-1486.
|
| [4] |
CHURCHILL G B, DUGAN D C. Simulation of the XV-15 tilt rotor research aircraft: TR 82-A-4[R]. Silicon Valley, US: NASA Ames Research Center, 1982.
|
| [5] |
DI MILANO P, RIGHETTI A, MUSCARELLO V, et al. Linear parameter varying models for the optimization of tiltrotor conversion maneuver[C]//Proceedings of the Vertical Flight Society 73rd Annual Forum. Fort Worth, US: The Vertical Flight Society, 2017: 280-287.
|
| [6] |
THOMAS L, KIMBERLEE S, JOHN K. Trim envelope calculations for a tiltrotor in forward flight, hover and transitions[J]. IFAC-Papers On Line, 2022, 55(6): 611-616. doi: 10.1016/j.ifacol.2022.07.195
|
| [7] |
APPLETON W, FILIPPONE A, BOJDO N. Interaction effects on the conversion corridor of tiltrotor aircraft[J]. The Aeronautical Journal, 2021, 125(1294): 2065-2086. doi: 10.1017/aer.2021.33
|
| [8] |
HELICOPTERS L, GOSALVEZ T M, FLYNN N. Scheduled maintenance program development for the Leonardo AW609 tiltrotor via the maintenance review board process utilizing MSG-3[C]//Proceedings of the Vertical Flight Society 78th Annual Forum. Fort Worth, US: The Vertical Flight Society, 2022: 1-11.
|
| [9] |
NABI H, DI MILANO P, et al. A quasi-linear parameter varying (qLPV) approach for tiltrotor conversion modeling and control synthesis[C]//Proceedings of the Vertical Flight Society 75th Annual Forum. Philadelphia, US: The Vertical Flight Society, 2019: 1-12.
|
| [10] |
YAN Xufei, YUAN Ye, CHEN Renliang. Research on pilot control strategy and workload for tilt-rotor aircraft conversion procedure[J]. Aerospace, 2023, 10(9): 742. doi: 10.3390/aerospace10090742
|
| [11] |
KANG N, WHIDBORNE J, LU Linghai, et al. Scheduled flight control system of tilt-rotor VTOL PAV: AIAA2023-1530 [R]. Reston, US: American Institute of Aeronautics and Astronautics, 2023.
|
| [12] |
YU Xin, CHEN Renliang, WANG Luofeng, et al. An optimization for alleviating pilot workload during tilt rotor aircraft conversion and reconversion maneuvers[J]. Aerospace Science and Technology, 2022, 129: 107854-107871. doi: 10.1016/j.ast.2022.107854
|
| [13] |
ALEX S, GREGOR V M. Transition performance of tilt propeller aircraft[C]//Proceedings of the Vertical Flight Society 78th Annual Forum. Fort Worth: The Vertical Flight Society, 2022: 1-16.
|
| [14] |
YEO H, SABERI H. Tiltrotor conversion maneuver analysis with RCAS[J]. Journal of the American Helicopter Society, 2021, 66(4): 1-14.
|
| [15] |
BRICK S J, FISCHER D S. CV-22 osprey flight path cueing flight director system[C]//Proceedings of American helicopter society Annual forum. Washington DC, US: American Helicopter Society, 1998: 251-255
|
| [16] |
KLEIN P D, NICKS C. Flight director and approach profile development for civil tiltrotor terminal area operations[C]//Proceedings of American helicopter society Annual forum. Washington DC, US: American Helicopter Society, 1998: 1120-1133.
|
| [17] |
LU Ke, TIAN Hongyuan, ZHEN Pan, et al. Conversion flight control for tiltrotor aircraft via active disturbance rejection control[J]. Aerospace, 2022, 9(3): 155-172. doi: 10.3390/aerospace9030155
|
| [18] |
KOWALSKI J, GRILL I, SEMINOLE W. Adaptable Automatic Nacelle Conversion for Tilt Rotor Aircraft: US 9377784 B2[P]. 2016-06-28.
|
| [19] |
ZALUDIN Z, GIRES E. Automatic flight control requirements for transition flight phases when converting long endurance fixed wing UAV to VTOL aircraft[C]// Proceedings of IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS). Piscataway, US: IEEE, 2019: 273-278.
|
| [20] |
KING D W, SHULTZ P P. Multi-Mode Tiltrotor Nacelle Control System with Integrated Envelope Protection. pdf: No. 6644588 B2[P]. 2003-11-11.
|
| [21] |
周攀. 面向直升机飞行品质设计的自适应控制方法研究[D]. 南京: 南京航空航天大学, 2016. ZHOU Pan. Research on adaptive control method for helicopter flying quality design[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016. (in Chinese
ZHOU Pan. Research on adaptive control method for helicopter flying quality design[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016. (in Chinese)
|
| [22] |
CHOI S, KANG Y, CHANG S, et al. Development and conversion flight test of a small tiltrotor unmanned aerial vehicle[J]. Journal of Aircraft, 2010, 47(2): 730-732. doi: 10.2514/1.46180
|
| [23] |
左卓. 无人倾转旋翼机过渡段纵向控制策略研究 [D]. 南京: 南京航空航天大学, 2020. ZUO Zhuo. Research on longitudinal control strategy of unmanned tilting rotor conversion mode [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2020. (in Chinese
ZUO Zhuo. Research on longitudinal control strategy of unmanned tilting rotor conversion mode [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2020. (in Chinese)
|
| [24] |
CHENG Zihuan, PEI Hailong. Transition analysis and practical flight control for ducted fan fixed-wing aerial robot: level path flight mode transition[J]. IEEE Robotics and Automation Letters, 2022, 7(2): 3106-3113. doi: 10.1109/LRA.2022.3145087
|
| [25] |
余新, 陈仁良. 基于非线性模型预测控制的倾转旋翼机过渡控制[J]. 航空动力学报, 2023, 38(6): 1391-1402. YU Xin, CHEN Renliang. Tilt rotor aircraft conversion control based on nonlinear model predictive control[J]. Journal of Aerospace Power, 2023, 38(6): 1391-1402. (in Chinese
YU Xin, CHEN Renliang. Tilt rotor aircraft conversion control based on nonlinear model predictive control[J]. Journal of Aerospace Power, 2023, 38(6): 1391-1402. (in Chinese)
|
| [26] |
PADFIELD G D. Helicopter flight dynamics: including a treatment of tiltrotor aircraft[M]. Chichester, UK: John Wiley & Sons, Limited, 2018.
|
| [27] |
FERGUSON S W. Developement and validation of a simulation for generic Tilt-Rotor Aircraft: Technical Report CR-166537[R]. NASA Ames Research Center, 1989.
|
| [28] |
严旭飞. 倾转旋翼机倾转过渡操纵策略研究[D]. 南京: 南京航空航天大学, 2019. YAN Xufei. Research on control strategy for tilt-rotor aircraft conversion procedure [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2019. (in Chinese
YAN Xufei. Research on control strategy for tilt-rotor aircraft conversion procedure [D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2019. (in Chinese)
|
| [29] |
SAETTI U, LAKHMANI S, BERGER T, et al. Design of dynamic inversion and explicit model following control laws for quadrotor inner and outer loops[C]//Proceedings of the Vertical Flight Society 74th Annual Forum. Phoenix, US: The Vertical Flight Society, 2018: 1-16.
|
| [30] |
SONESON G L, HORN J F, ZHENG A. Simulation testing of advanced response types for ship-based rotorcraft[J]. Journal of the American Helicopter Society, 2016, 61(3): 1-13.
|
| [31] |
RYSDYK R T, CALISE A J. Adaptive model inversion flight control for tilt-rotor aircraft[J]. Journal of Guidance, Control, and Dynamics, 1999, 22(3): 402-407.
|
| [32] |
NABI H N, DE VISSER C C, PAVEL M D, et al. Development of a quasi-linear parameter varying model for a tiltrotor aircraft[J]. CEAS Aeronautical Journal, 2021, 12(4): 879-894. doi: 10.1007/s13272-021-00539-1
|
| [33] |
LIU Zhong, THEILLIOL D, YANG Liying, et al. Observer-based linear parameter varying control design with unmeasurable varying parameters under sensor faults for quad-tilt rotor unmanned aerial vehicle[J]. Aerospace Science and Technology, 2019, 92: 696-713. doi: 10.1016/j.ast.2019.06.028
|
| [34] |
SILVA N B F, FONTES J V C, INOUE R S, et al. Dynamic inversion and gain-scheduling control for an autonomous aerial vehicle with multiple flight stages[J]. Journal of Control, Automation and Electrical Systems, 2018, 29(3): 328-339.
|
| [35] |
LIU Zhong, HE Yuqing, YANG Liying, et al. Control techniques of tilt rotor unmanned aerial vehicle systems: a review[J]. Chinese Journal of Aeronautics, 2017, 30(1): 135-148. doi: 10.1016/j.cja.2016.11.001
|
| [36] |
COOPER J, DEVORE M, et al. Probabilistic techniques for pilot-vehicle interaction and handling qualities analysis[C]//Proceedings of the Vertical Flight Society 77th Annual Forum. Forth Worth, US: The Vertical Flight Society, 2021: 1-16.
|
| [37] |
TRITSCHLER J K, O’CONNOR J C, HOLDER J M, et al. Interpreting time-frequency analyses of pilot control activity in ADS-33E mission task elements[C]//Proceedings of the Vertical Flight Society 73th Annual Forum. Fort Worth, US: The Vertical Flight Society, 2017: 1-14.
|
DownLoad:
