In this article,the dynamical model and trajectory tracking problem for a tilt-rotor unmanned aerial vehicle is tackled through linear Active Disturbance Rejection Control(ADRC)applied on the tangent linearized system...In this article,the dynamical model and trajectory tracking problem for a tilt-rotor unmanned aerial vehicle is tackled through linear Active Disturbance Rejection Control(ADRC)applied on the tangent linearized system.To apply the ADRC scheme,it is considered the subsystem without the Y-axis component,which is differentially flat and whose flat outputs are obtained using the Kronecker matrix.Numerical assessment using as system parameters the ones of a scale prototype is provided to show the effectiveness of the proposal leading to accurate tracking results using admissible control values for an experimental scenario.展开更多
In order to calculate the unsteady aerodynamic characteristics of a tilt-rotor in a conver- sion mode, a virtual blade model （VBM） and an real blade model （RBM） are established respec- tively. A new multi-layer mo...In order to calculate the unsteady aerodynamic characteristics of a tilt-rotor in a conver- sion mode, a virtual blade model （VBM） and an real blade model （RBM） are established respec- tively. A new multi-layer moving-embedded grid technique is proposed to reduce the numerical dissipation of the tilt-rotor wake in a conversion mode. In this method, a grid system generated abound the rotor accounts for rigid blade motions, and a new searching scheme named adaptive inverse map （AIM） is established to search corresponding donor elements in the present moving- embedded grid system to translate information among the different computational zones. A dual-time method is employed to fulfill unsteady calculations on the flowfield of the tilt-rotor, and a second-order centered difference scheme considering artificial viscosity is used to calculate the flux. In order to improve the computing efficiency, the single program multiple data （SPMD） model parallel acceleration technology is adopted, according to the characteristic of the current grid system. The lift and drag coefficients of an NACA0012 airfoil, the dynamic pressure distributions below a typical rotor plane, and the sectional pressure distributions on a three-bladed Branum- Tung tilt-rotor in hover flight are calculated respectively, and the present VBM and RBM are val- idated by comparing the calculated results with available experimental data. Then, unsteady aero- dynamic forces and flowfields of an XV-15 tilt-rotor in different modes, such as a fixed conversion mode at different tilt angles （15°, 30°, 60°） and a whole conversion mode which converses from 0° to 90°, are numerically simulated by the VBM and RBM respectively. By analyses and comparisons on the simulated results of unsteady aerodynamic forces of the tilt-rotor in different modes, some meaningful conclusions about distorted blade-tip vortex distribution and unsteady aerodynamic force variation in a conversion mode are obtained, and these investigation results could provide a good foundation for tilt-rotor aircraft design in the future.展开更多
An augmented flight dynamics model is developed to extend the existing flight dynamics model of tilt-rotor aircraft for optimal landing procedure analysis in the event of one engine failure.Compared with the existing ...An augmented flight dynamics model is developed to extend the existing flight dynamics model of tilt-rotor aircraft for optimal landing procedure analysis in the event of one engine failure.Compared with the existing flight dynamics model, the augmented model involves with more pilot control information in cockpit and is validated against the flight test data. Based on the augmented flight dynamics model, the optimal landing procedure of XV-15 tilt-rotor aircraft after one engine failure is formulated into a Nonlinear Optimal Control Problem(NOCP), solved by collocation and numerical optimization method. The time histories of pilot controls in cockpit during the optimal landing procedure are obtained for the evaluation of pilot workload. An evaluation method which can synthetically quantify the pilot workload in time and frequency domains is proposed with metrics of aggressiveness and cutoff frequencies of pilot controls. The scale of the pilot workload is compared with those of the shipboard landing procedures, bob-up/bob-down and dash/quickstop maneuvers of UH-60 helicopter. The results show that the aggressiveness of pilot collective and longitudinal controls for the tilt-rotor aircraft optimal landing procedure after one engine failure are higher than those for UH-60 helicopter shipboard landing procedures up to the condition of sea state 4, while the pilot cutoff frequency of collective control is lower than that of the bob-up/bob-down maneuver but the pilot cutoff frequency of longitudinal control is higher than that of the dash/quick-stop maneuver. The evaluated pilot workload level is between Cooper–Harper HQR Level 2 and Level 3.展开更多
The conceptual design and optimization of a tilt-rotor Micro Air Vehicle(MAV) for a well-defined mission are performed. The objective of this design cycle is to decrease the design time in order to efficiently create ...The conceptual design and optimization of a tilt-rotor Micro Air Vehicle(MAV) for a well-defined mission are performed. The objective of this design cycle is to decrease the design time in order to efficiently create a functional tilt-rotor drone. A flight mission is firstly defined for a tiltrotor MAV performing hovering and cruise flight scenarios. Secondly, a complex wing shape is chosen and modeled in order to determine the final shape. The initial shape is scaled in order to acquire an arbitrary wingspan of one meter. For the specific area and wingspan, the aspect ratio of the designed wing shape is found to be equal to 2.32. Thirdly, a constraint analysis of the MAV is performed by using an energy balance analysis for six different flight scenarios. This analysis yields the required power loading and wing loading. Fourthly, the weight of the vehicle is estimated using both statistical and computational methods. After estimating the total weight and the wing loading of the MAV, the surface of the wing is determined, yielding a final wingspan of 0.76 m. Subsequently, considering the total weight of the designed MAV, the needed lift coefficient is determined.Fifthly, using the lift coefficient in conjunction with XLFR5, a batch of airfoils is selected and analyzed to evaluate the aerodynamic coefficients of the wing with each airfoil. This analysis ultimately leads to the optimum airfoil being selected. Finally, design of the fuselage and tail, internal components selection, and servo-mechanisms design are carried out prior to a stability analysis. All these proposed steps are needed to design efficient and functional tilt-rotor MAVs.展开更多
Aiming at the complex tilting process of quad tilt-rotor(QTR)transition mode,this paper studies the manipulation strategy in transition mode to solve the problem of manipulation redundancy and coupling in transition m...Aiming at the complex tilting process of quad tilt-rotor(QTR)transition mode,this paper studies the manipulation strategy in transition mode to solve the problem of manipulation redundancy and coupling in transition mode of quad tilt rotor.The variations of the manipulation derivative are analyzed in the tilting process.Through the flight control simulation and flight test of the quad tilt-rotor,the validity of the control system and the rationality of the manipulation strategy are verified.展开更多
A tilt-rotor aircraft has three flight modes: helicopter mode, airplane mode and conversion mode. Unlike the traditional aircraft, the tilt-rotor aircraft, which combines the characteristics of helicopters and fixed-w...A tilt-rotor aircraft has three flight modes: helicopter mode, airplane mode and conversion mode. Unlike the traditional aircraft, the tilt-rotor aircraft, which combines the characteristics of helicopters and fixed-wing aircraft, is a complex multi-body system with the violent variation of the aerodynamic parameters. For these characteristics, a new smooth switching control scheme is provided for the tilt-rotor aircraft. First, the reference commands for airspeed and nacelle angles are calculated by analyzing the conversion corridor and the conversion path. Subsequently, based on the finite-time switching theorem, an average dwell time condition is designed to guarantee the stability in the switching process. Besides, considering the state vibrations and bumps may appear in switching points, the fuzzy weighted logic is employed to improve the system transient performance. For disturbance rejection, three extended state observers are designed separately to estimate the disturbances in the switched systems. Compared with the traditional auto disturbance rejection control and proportion integration differentiation control, this method overcomes the conservatism of wasting the whole model information. The control performances of robustness and smoothness are verified with simulation, which shows that the new smooth switching control scheme is more targeted and superior than the traditional design method.展开更多
To study the Radar Cross-Section(RCS) characteristics of the tilt-rotor aircraft, a dynamic calculation approach that takes into account rotor rotation and nacelle tilt is presented.Physical optics and physical theory...To study the Radar Cross-Section(RCS) characteristics of the tilt-rotor aircraft, a dynamic calculation approach that takes into account rotor rotation and nacelle tilt is presented.Physical optics and physical theory of diffraction are used to deal with the instantaneous electromagnetic scattering of the target. The RCS of the aircraft in the helicopter mode, fixed-wing mode and transition mode is analyzed. The results show that in the fixed-wing mode, the blade has a weaker deflection effect on the head incident wave in the horizontal plane. The helicopter mode improves the scattering of the rotor in the horizontal plane, while it increases the scattering source on the surface of the nacelle. At a fixed tilt angle, the RCS of the aircraft under a given azimuth angle still shows obvious dynamic characteristics. Dynamic tilting significantly changes the scattering effects of blades, hubs, nacelles and wingtips. The proposed approach is shown to be feasible and effective to learn the electromagnetic scattering characteristics of the tilt rotor aircraft.展开更多
A tilt-rotor unsteady flow analytical method has been developed based upon viscous vortex-particle method.In this method,the vorticity field is divided into small assembled vortex particles.Vortex motion and diffusion...A tilt-rotor unsteady flow analytical method has been developed based upon viscous vortex-particle method.In this method,the vorticity field is divided into small assembled vortex particles.Vortex motion and diffusion are obtained by solving the velocity-vorticity-formed incompressible Navier-Stokes equations using agrid-free Lagrangian simulation method.Generation of the newly vortex particles is calculated by using the Weissinger-L lifting surface model.Furthermore,in order to significantly improve computational efficiency,a fast multiple method(FMM)is introduced into the calculation of induced velocity and its gradient.Finally,the joint vertical experimental(JVX)tilt-rotor is taken as numerical examples to analyze.The wake geometry and downwash are investigated for both hover and airplane modes.The proposed method for tilt-rotor flow analysis is verified by comparing its results with those available measured data.Comparison indicates that the current method can accurately capture the complicated tilt-rotor wake variation and be suitable for aerodynamic interaction simulation in complex environments.Additionally,the aerodynamic interactional characteristics of dual-rotor wake are discussed in different rotor distance.Results show that there are significant differences on interactional characteristics between hover mode and airplane mode.展开更多
This paper investigates the state-tracking control problem in conversion mode of a tilt-rotor aircraft with a switching modeling method and a smooth interpolation technique.Based on the nonlinear model of the conversi...This paper investigates the state-tracking control problem in conversion mode of a tilt-rotor aircraft with a switching modeling method and a smooth interpolation technique.Based on the nonlinear model of the conversion mode,a switched linear model is developed by using the Jacobian linearization method and designing the switching signal based on the mast angle.Furthermore,an ℋ_(∞) state-tracking control scheme is designed to deal with the conversion mode control issue.Moreover,instead of limiting the amplitude of control inputs,a smooth interpolation method is developed to create bumpless performance.Finally,the XV-15 tilt-rotor aircraft is chosen as a prototype to illustrate the effectiveness of this developed control method.展开更多
基金supported by the Secretaría de Investigación y Posgrado del Instituto Politécnico Nacional(SIP-IPN)under grants 20250098,20250168,20251291 and 20254791by Universidad Iberoamericana Ciudad de México+1 种基金Victor G.Sánchez-Meza is a Secretaría de Ciencia,Humanidades,Tecnología e Innovación(Secihti)fellow(CVU 964590)support received.Yair Lozano thanks the support of the Coordinación de Operación y Redes de Investigación y Posgrado of the IPN through the Red de Inteligencia Artificial y Ciencia de Datos and the Red de Expertos en Innovación Automotriz.
文摘In this article,the dynamical model and trajectory tracking problem for a tilt-rotor unmanned aerial vehicle is tackled through linear Active Disturbance Rejection Control(ADRC)applied on the tangent linearized system.To apply the ADRC scheme,it is considered the subsystem without the Y-axis component,which is differentially flat and whose flat outputs are obtained using the Kronecker matrix.Numerical assessment using as system parameters the ones of a scale prototype is provided to show the effectiveness of the proposal leading to accurate tracking results using admissible control values for an experimental scenario.
基金supported by the National Natural Science Foundation of China(No.11272150)
文摘In order to calculate the unsteady aerodynamic characteristics of a tilt-rotor in a conver- sion mode, a virtual blade model （VBM） and an real blade model （RBM） are established respec- tively. A new multi-layer moving-embedded grid technique is proposed to reduce the numerical dissipation of the tilt-rotor wake in a conversion mode. In this method, a grid system generated abound the rotor accounts for rigid blade motions, and a new searching scheme named adaptive inverse map （AIM） is established to search corresponding donor elements in the present moving- embedded grid system to translate information among the different computational zones. A dual-time method is employed to fulfill unsteady calculations on the flowfield of the tilt-rotor, and a second-order centered difference scheme considering artificial viscosity is used to calculate the flux. In order to improve the computing efficiency, the single program multiple data （SPMD） model parallel acceleration technology is adopted, according to the characteristic of the current grid system. The lift and drag coefficients of an NACA0012 airfoil, the dynamic pressure distributions below a typical rotor plane, and the sectional pressure distributions on a three-bladed Branum- Tung tilt-rotor in hover flight are calculated respectively, and the present VBM and RBM are val- idated by comparing the calculated results with available experimental data. Then, unsteady aero- dynamic forces and flowfields of an XV-15 tilt-rotor in different modes, such as a fixed conversion mode at different tilt angles （15°, 30°, 60°） and a whole conversion mode which converses from 0° to 90°, are numerically simulated by the VBM and RBM respectively. By analyses and comparisons on the simulated results of unsteady aerodynamic forces of the tilt-rotor in different modes, some meaningful conclusions about distorted blade-tip vortex distribution and unsteady aerodynamic force variation in a conversion mode are obtained, and these investigation results could provide a good foundation for tilt-rotor aircraft design in the future.
基金supported by the National Natural Science Foundation of China (No. 11672128)
文摘An augmented flight dynamics model is developed to extend the existing flight dynamics model of tilt-rotor aircraft for optimal landing procedure analysis in the event of one engine failure.Compared with the existing flight dynamics model, the augmented model involves with more pilot control information in cockpit and is validated against the flight test data. Based on the augmented flight dynamics model, the optimal landing procedure of XV-15 tilt-rotor aircraft after one engine failure is formulated into a Nonlinear Optimal Control Problem(NOCP), solved by collocation and numerical optimization method. The time histories of pilot controls in cockpit during the optimal landing procedure are obtained for the evaluation of pilot workload. An evaluation method which can synthetically quantify the pilot workload in time and frequency domains is proposed with metrics of aggressiveness and cutoff frequencies of pilot controls. The scale of the pilot workload is compared with those of the shipboard landing procedures, bob-up/bob-down and dash/quickstop maneuvers of UH-60 helicopter. The results show that the aggressiveness of pilot collective and longitudinal controls for the tilt-rotor aircraft optimal landing procedure after one engine failure are higher than those for UH-60 helicopter shipboard landing procedures up to the condition of sea state 4, while the pilot cutoff frequency of collective control is lower than that of the bob-up/bob-down maneuver but the pilot cutoff frequency of longitudinal control is higher than that of the dash/quick-stop maneuver. The evaluated pilot workload level is between Cooper–Harper HQR Level 2 and Level 3.
基金the financial support from New Mexico Space Grant Consortium
文摘The conceptual design and optimization of a tilt-rotor Micro Air Vehicle(MAV) for a well-defined mission are performed. The objective of this design cycle is to decrease the design time in order to efficiently create a functional tilt-rotor drone. A flight mission is firstly defined for a tiltrotor MAV performing hovering and cruise flight scenarios. Secondly, a complex wing shape is chosen and modeled in order to determine the final shape. The initial shape is scaled in order to acquire an arbitrary wingspan of one meter. For the specific area and wingspan, the aspect ratio of the designed wing shape is found to be equal to 2.32. Thirdly, a constraint analysis of the MAV is performed by using an energy balance analysis for six different flight scenarios. This analysis yields the required power loading and wing loading. Fourthly, the weight of the vehicle is estimated using both statistical and computational methods. After estimating the total weight and the wing loading of the MAV, the surface of the wing is determined, yielding a final wingspan of 0.76 m. Subsequently, considering the total weight of the designed MAV, the needed lift coefficient is determined.Fifthly, using the lift coefficient in conjunction with XLFR5, a batch of airfoils is selected and analyzed to evaluate the aerodynamic coefficients of the wing with each airfoil. This analysis ultimately leads to the optimum airfoil being selected. Finally, design of the fuselage and tail, internal components selection, and servo-mechanisms design are carried out prior to a stability analysis. All these proposed steps are needed to design efficient and functional tilt-rotor MAVs.
基金supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)
文摘Aiming at the complex tilting process of quad tilt-rotor(QTR)transition mode,this paper studies the manipulation strategy in transition mode to solve the problem of manipulation redundancy and coupling in transition mode of quad tilt rotor.The variations of the manipulation derivative are analyzed in the tilting process.Through the flight control simulation and flight test of the quad tilt-rotor,the validity of the control system and the rationality of the manipulation strategy are verified.
基金supported by the Aeronautical Science Foundation of China(20175752045)。
文摘A tilt-rotor aircraft has three flight modes: helicopter mode, airplane mode and conversion mode. Unlike the traditional aircraft, the tilt-rotor aircraft, which combines the characteristics of helicopters and fixed-wing aircraft, is a complex multi-body system with the violent variation of the aerodynamic parameters. For these characteristics, a new smooth switching control scheme is provided for the tilt-rotor aircraft. First, the reference commands for airspeed and nacelle angles are calculated by analyzing the conversion corridor and the conversion path. Subsequently, based on the finite-time switching theorem, an average dwell time condition is designed to guarantee the stability in the switching process. Besides, considering the state vibrations and bumps may appear in switching points, the fuzzy weighted logic is employed to improve the system transient performance. For disturbance rejection, three extended state observers are designed separately to estimate the disturbances in the switched systems. Compared with the traditional auto disturbance rejection control and proportion integration differentiation control, this method overcomes the conservatism of wasting the whole model information. The control performances of robustness and smoothness are verified with simulation, which shows that the new smooth switching control scheme is more targeted and superior than the traditional design method.
基金supported by the Project funded by China Postdoctoral Science Foundation(Nos.BX20200035,2020M680005)。
文摘To study the Radar Cross-Section(RCS) characteristics of the tilt-rotor aircraft, a dynamic calculation approach that takes into account rotor rotation and nacelle tilt is presented.Physical optics and physical theory of diffraction are used to deal with the instantaneous electromagnetic scattering of the target. The RCS of the aircraft in the helicopter mode, fixed-wing mode and transition mode is analyzed. The results show that in the fixed-wing mode, the blade has a weaker deflection effect on the head incident wave in the horizontal plane. The helicopter mode improves the scattering of the rotor in the horizontal plane, while it increases the scattering source on the surface of the nacelle. At a fixed tilt angle, the RCS of the aircraft under a given azimuth angle still shows obvious dynamic characteristics. Dynamic tilting significantly changes the scattering effects of blades, hubs, nacelles and wingtips. The proposed approach is shown to be feasible and effective to learn the electromagnetic scattering characteristics of the tilt rotor aircraft.
基金Supported by the National Natural Science Foundation of China(11302103)
文摘A tilt-rotor unsteady flow analytical method has been developed based upon viscous vortex-particle method.In this method,the vorticity field is divided into small assembled vortex particles.Vortex motion and diffusion are obtained by solving the velocity-vorticity-formed incompressible Navier-Stokes equations using agrid-free Lagrangian simulation method.Generation of the newly vortex particles is calculated by using the Weissinger-L lifting surface model.Furthermore,in order to significantly improve computational efficiency,a fast multiple method(FMM)is introduced into the calculation of induced velocity and its gradient.Finally,the joint vertical experimental(JVX)tilt-rotor is taken as numerical examples to analyze.The wake geometry and downwash are investigated for both hover and airplane modes.The proposed method for tilt-rotor flow analysis is verified by comparing its results with those available measured data.Comparison indicates that the current method can accurately capture the complicated tilt-rotor wake variation and be suitable for aerodynamic interaction simulation in complex environments.Additionally,the aerodynamic interactional characteristics of dual-rotor wake are discussed in different rotor distance.Results show that there are significant differences on interactional characteristics between hover mode and airplane mode.
基金Project supported by the National Natural Science Foundation of China (Nos.62103186 and 62122038)the Natural Science Foundation of Jiangsu Province,China (Nos.BK20210285 and BK20211565)the China Postdoctoral Science Foundation (Nos.2021TQ0151 and 2021M691571)。
文摘This paper investigates the state-tracking control problem in conversion mode of a tilt-rotor aircraft with a switching modeling method and a smooth interpolation technique.Based on the nonlinear model of the conversion mode,a switched linear model is developed by using the Jacobian linearization method and designing the switching signal based on the mast angle.Furthermore,an ℋ_(∞) state-tracking control scheme is designed to deal with the conversion mode control issue.Moreover,instead of limiting the amplitude of control inputs,a smooth interpolation method is developed to create bumpless performance.Finally,the XV-15 tilt-rotor aircraft is chosen as a prototype to illustrate the effectiveness of this developed control method.
