Concerning the flight control problem of the tilt tri-rotor unmanned aerial vehicle,this paper designs the control allocation algorithm,the weight coefficient,and the mode transition strategy.Firstly,the principle of flight control in different modes is analyzed,and the complete flight control framework of mode transition is proposed accordingly.Secondly,a cascaded-coupling control allocation algorithm and two kinds of parameter modification methods are developed to improve the robustness of the control allocation.Thirdly,the attainable moment set is applied to design the control weight coefficient,and the mode transition strategy that depends on time and tilting angle is proposed for achieving a stable mode transition flight.Finally,the flight experiments in the helicopter mode and the transition mode are conducted,respectively,which corroborate the effectiveness of the proposed methods.The results show that the robustness of control allocation and the performance of attitude control are improved by using the cascade-decoupling control allocation algorithm;the safety and stability of the mode transition flight are guaranteed by the control weight coefficient and mode transition strategy.
关键词
倾转三旋翼无人机/飞行控制系统/控制分配/控制权重/模态转换策略/飞行试验
Key words
tilt tri-rotor UAV/flight control systems/control allocation/weight coefficient/mode transition strategy/flight experiment
维普
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