本发明提供一种共轴式倾转旋翼飞行器故障模式下的控制方法,属于小型飞行器技术领域。所述的共轴式倾转旋翼飞行器由位于前方的两个共轴倾转旋翼模块和位于后方的尾部旋翼模块组成。其中位于前方的两个共轴倾转旋翼模块上分别安装了一对共轴旋翼,位于后方的尾部旋翼模块上安装了一个旋翼。该控制方法使得该飞行器在一侧倾转模块中的一个旋翼出现故障、两侧倾转模块中同一层的两个旋翼同时出现故障、一侧倾转模块无法倾转三种故障状态下,期望控制量设计与无故障状态相同,控制分配方程组改变,需要设计不同的约束来使得控制分配方程组有唯一解,使得在故障状态下可控。

    The invention provides a control method for a coaxial tilt-rotor aircraft in a fault mode, and belongs to the technical field of small aircrafts. The coaxial tilt rotor aircraft is composed of two coaxial tilt rotor modules located in the front and a tail rotor module located in the rear. Wherein the two coaxial tilting rotor modules located in the front are each provided with a pair of coaxial rotors, and the tail rotor module located in the rear is provided with a rotor. According to the control method, under the three fault states that one rotor wing in the tilting module on one side breaks down, two rotor wings on the same layer in the tilting modules on the two sides break down at the same time and the tilting module on one side cannot tilt, the expected control quantity design is the same as the fault-free state, the distribution equation set is controlled to change, and the control precision is improved. Different constraints need to be designed to enable a control allocation equation set to have a unique solution, so that the control allocation equation set is controllable in a fault state.


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    Titel :

    一种共轴式倾转旋翼飞行器故障模式下的控制方法


    Erscheinungsdatum :

    2024-07-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge