摘要
针对无人倾转旋翼机直升机模式,进行机理建模并分析模态特性,提出3种位置控制律策略并进行对比分析,选择采用基于地速的高精度位置控制策略。结合物理概念从根轨迹和时域阶跃响应进行内外环参数的详细设计,并通过非线性仿真验证控制律的鲁棒性,完成纵向位置控制律设计。
According to the helicopter mode of an unmanned tilt-rotor,a model based on mechanism modeling was established along with the analysis on its characteristics.Three strategies of position control law were put forward and compared.High precision position control based on ground speed was chosen in the first place.Then,with the physical concept being combined,the internal and external loop parameters were designed in detail from the root locus and time domain step response.The robustness of the control law was verified through nonlinear simulation to complete the designing of longitudinal position control law.
作者
梁天
肖斯奇
施啸宇
LIANG Tian;XIAO Siqi;SHI Xiaoyu(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械制造与自动化》
2021年第1期172-176,共5页
Machine Building & Automation
关键词
直升机模式
纵向位置控制律
地速控制
helicopter mode
longitudinal position control law
ground speed control
