The invention discloses a power deflection wing vertical take-off and landing unmanned aerial vehicle and a control method thereof, and belongs to the technical field of unmanned aerial vehicle flight control. The control method comprises the following steps: firstly, comparing initial parameters of the controller with digital and semi-physical simulation results; then, when the unmanned aerial vehicle starts to enter a co-rotation stage of a transition mode, sending an instruction, and making the distributed ducts and the power deflection wings jointly tilt at a certain angle; when the co-rotation stage is finished, making the distributed duct and the power deflection wing tilt to the position, after it is confirmed that the aircraft is normal, entering a withdrawing stage, and respectively calculating the tilting angles of the distributed duct and the power deflection wing; through attitude control parameters, the power deflection wing unmanned aerial vehicle can realize stable transition to a retraction stage. Through the method, the effects of reducing the modeling difficulty, adapting to the actual flight state, reducing the state space dimension in the flight process and reducing the calculation complexity can be achieved, so that the problem of serious coupling of the duct and the power deflection wing is solved.
本发明一种动力偏转翼垂直起降无人机及其控制方法,属于无人机飞行控制技术领域;控制方法中,首先将控制器初始参数与数字及半物理仿真结果对比;然后当无人机开始进入过渡模式的共转阶段发出指令,分布式涵道及动力偏转翼以一定角度共同倾转;当共转阶段结束,分布式涵道和动力偏转翼倾转至tilttransiton,确认飞机正常后,进入收回阶段,分别计算分布式涵道和动力偏转翼的倾转角度;通过姿态控制参数,使得动力偏转翼无人机能够实现平稳过渡至收回阶段。通过此方法,可以达到降低建模难度,适配实际飞行状态,缩小飞行过程中状态空间维度,减小计算复杂度的作用,从而解决了涵道与动力偏转翼耦合严重的问题。
Power deflection wing vertical take-off and landing unmanned aerial vehicle and control method thereof
一种动力偏转翼垂直起降无人机及其控制方法
2021-04-30
Patent
Electronic Resource
Chinese
IPC: | B64C AEROPLANES , Flugzeuge |
Vertical take-off and landing transformable wing unmanned aerial vehicle
European Patent Office | 2022
|Fixed-wing vertical take-off and landing unmanned aerial vehicle
European Patent Office | 2020
|Vertical take-off and landing fixed-wing unmanned aerial vehicle
European Patent Office | 2023
|Vertical take-off and landing fixed-wing unmanned aerial vehicle
European Patent Office | 2020
|Vertical take-off and landing tandem wing unmanned aerial vehicle
European Patent Office | 2020
|