摘要
针对电动垂直起降(eVTOL)飞行器在遭遇阵风扰动和单旋翼失效时的稳定性控制问题,本文采用MATLAB/Simulink建模仿真软件搭建eVTOL飞行器模型,基于增量非线性动态逆(INDI)的非线性控制方法设计倾转旋翼eVTOL的飞行控制律,设计了位置内环和姿态外环的级联控制器,并结合最小二乘算法实现了拉力的控制分配。针对悬停状态下飞行器遭遇阵风干扰和单旋翼失效的稳定控制,提出了“倾转+变桨距”的飞行控制策略。研究结果表明:INDI控制器使飞行器在8.75 m/s的垂向阵风扰动下的高度位置变化不超过0.8 m,在1号和6号旋翼失效后通过调控旋翼转速使飞行器恢复稳定,验证了INDI控制器的抗干扰性能和鲁棒性;当2号旋翼失效且IDNI无法控制时,“倾转+变桨距”策略成功使飞行器恢复稳定。
To address the issue of stability control in the face of gust disturbances and single rotor failure during eVTOL flight,this study develops an eVTOL aircraft model using MATLAB/Simulink simulation software.A flight control law for the tilt-rotor eVTOL was designed based on the Incremental Nonlinear Dynamic Inversion(INDI)nonlinear control method.A cascaded controller was implemented,with an inner loop for position control and an outer loop for attitude control,and thrust allocation was achieved using the least squares method.A“tilt+variable-pitch”flight control strategy was proposed to ensure stability control when the aircraft encounters gust disturbances and single rotor failure during hover.The research results show that the INDI controller can limit alti⁃tude variations to within 0.8 m under a vertical gust disturbance of 8.75 m/s and restore stability by adjusting rotor speeds after the failure of rotor 1 and rotor 6,verifying the INDI controller’s disturbance rejection performance and robustness.When rotor 2 failed and the INDI controller was unable to maintain control,the“tilt+variablepitch”strategy successfully restored the aircraft’s stability.
作者
孙爽
董华龙
赵自庆
李文彭
王宇峰
SUN Shuang;DONG Hualong;ZHAO Ziqing;LI Wenpeng;WANG Yufeng(College of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300,China;Sino-European Institute of Aviation Engineering,Civil Aviation University of China,Tianjin 300300,China)
出处
《推进技术》
北大核心
2025年第9期249-262,共14页
Journal of Propulsion Technology
基金
中央高校基本科研业务费专项资金(3122023QD07)。
