一种倾转四旋翼无人机及其过渡段姿态控制

摘要

Since the conventional quad rotor UAV is limited by the slow flight speed, short battery life and fixed wing aircraft cannot VTOL and hover, a small QTR (Quad Tilt-Rotor) UAV was designed. The dynamic model of QTR was constructed. Considering the characters of attitude control in transition period, design the attitude controller based on robust servo LQR control theory. Then a control maneuver for the QTR transition from vertical mode to horizontal mode was proposed. And control method was verified by the simulation, comparing with the traditional control method. The simulation results show that the UAV can not only take into account the abilities of traditional quad rotor UAV, but also can fly long distances like the fixed wing aircraft.%为解决常规四旋翼无人机前飞速度慢、续航时间短、固定翼飞行器无法垂直起降和悬停的不足,设计一种小型倾转四旋翼QTR(quad tilt-rotor)无人机.建立QTR无人机的动力学模型,针对该无人机的过渡段姿态控制特点设计基于鲁棒伺服 LQR 控制理论的姿态控制器,针对 QTR 由垂直模式切换水平模式的过渡阶段设计控制策略,并通过仿真实验,对比传统控制方法进行验证.仿真结果表明:该无人机既兼顾传统四旋翼无人机的飞行功能,又能像固定翼飞行器一样进行长距离快速飞行.