摘要
倾转旋翼机的不同舵面存在冗余操纵,而冗余舵面的分配策略和飞行转换路径对其控制重构具有重要的意义。对建立的小型无人倾转旋翼机全量非线性飞行动力学模型在不同飞行模式下的进行配平计算、模型线化后,求出单位操纵面位移所引起的俯仰、滚转和偏航力矩的改变量,即考察倾转旋翼机各操纵面的操纵功效,并对其结果进行详细分析,以确定倾转旋翼机的冗余舵面控制重构能力;确定各飞行模式下倾转旋翼机的操纵方式,给出舵面分配策略的权重系数矩阵;在此基础上,提出三种不同的全模式飞行转换路径方案,并分别计算三种方案下倾转旋翼机的飞行速度与前倾角、姿态角及操纵量的关系。结果表明:三种方案都能实现对飞行器的合理操纵,表明倾转旋翼机的冗余舵面控制重构是可以实现的。
The redundant manipulations on different control surfaces of tilt-rotorcraft are of great importance for its control reconfiguration. The nonlinear model trim and small perturbation linearization processing result are presented based on the small unmanned tilt-rotorcraft flight dynamics model. The pitch, roll and yaw moment changing results are obtained, and manipulation efficiency is analyzed in detail under independent control of the different control surface, which confirmed that redundant control surface of tilt-rotorcraft is of the reconfiguring capacity. Manipulation styles under different flight mode are determined, and weight coefficient matrix of allocation strategy of control surface is obtained. Based on the results of analysis, the three different full mode flight conversion paths are presented, and the relations among the flight speed and turn forward angle, attitude angle, manipulation quantity are calculated. The results show that manipulation efficiency can be achieved through the three conversion paths, and indicate that redundant control surface reconfiguring ability of tilt-rotorcraft can be realized.
作者
马存旺
文嘉瑜
宋彦国
Ma Cunwang;Wen Jiayu;Song Yanguo(Cai Hong Unmanned Aerial Vehicle Technology Co.,Ltd.,China Academy of Aerospace Aerodynamics,Beijing 100074,China;National Key Laboratory of Rotorcraft Aeromechanics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《航空工程进展》
CSCD
2019年第1期36-45,146,共11页
Advances in Aeronautical Science and Engineering
关键词
倾转旋翼机
冗余操纵
舵面分配
飞行转换路径
tilt-rotorcraft
redundant manipulation
control surface assignment
flight conversion path
