不对称变后掠翼飞行器多刚体建模与飞行控制
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摘要
现代战场环境日愈提升的复杂度要求飞行器具备更高的性能和更好的适应性。作为新一代飞行器的重要发展方向,可变形飞行器能根据飞行环境和任务需求大尺度改变自身结构,以获取最优的气动布局和操控性。由于可变形飞行器结构复杂,气动特性及动力学特性特殊,因此其建模和控制都是当前的研究热点。作为一种经典的飞行器变形方式,变后掠翼为许多现役飞机采用。然而目前对变后掠翼飞行器的研究大多基于单刚体假设,并不符合其多刚体结构的固有特性。此外,不对称变后掠翼,以及将变后掠翼作为姿态控制机构的相关研究也很罕见。研究可不对称变后掠翼飞行器的建模和控制,可以为采用类似变形方式的飞行器研究提供新的思路和方法,具有重要意义。本文结合国家自然科学基金项目(61273090),对可不对称变后掠翼飞行器的多刚体建模和飞行控制进行了深入的研究,并介绍了相关硬件实验平台的工作进展。主要工作和研究内容如下：
一、基于Kane方法的可不对称变后掠翼飞行器多刚体建模。
二、对称和不对称变后掠翼分别作为俯仰和滚转姿态控制器的可行性研究,以及它们与传统舵面协同工作时的控制分配设计。
三、考虑外部扰动和系统物理限制时,可不对称变后掠翼飞行器一体化航迹跟踪控制设计。
四、基于Paparazzi UAV项目的无人机硬件实验平台介绍,以及当前实验进展。
The elevating complexity of modern battlefield requires higher performance and better adaptability of air vehicles. As an important development trend of new generation aircrafts, morphing aircrafts are capable of doing large-scale structural change to achieve optimal aerodynamic characteristic and controllability according to different flight environments and mission requirements. Because of their complex structures and special aerodynamic(dynamic) characteristics, modelling and control of morphing aircrafts have been lasting topics of interest for researchers. Variable sweep is a classical way of aircraft morphing, however, most former researches were done based on single-rigid-body hypothesis. Meanwhile, asymmetricmorphing and the feasibility of using morphing as additional controller were rarely considered. The study on modelling and control of asymmetric variable sweep morphing aircrafts can be enlightening for other morphing aircraft researches, and its importance is quite significant. Our research is supported by the National Natural Science Foundation of China(Grant No61273090). In this paper, we propose an intensive study on multi-body dynamic modelling and flight control of asymmetric variable sweep aircrafts, and report the progress of our UAV hardware experiment platform. The major work comprises the following aspects:
1. Multi-body dynamic modelling of asymmetric morphing aircrafts based on Kane's method.
2. The feasibility study of using symmetric(asymmetric) variable sweep morphing as additional attitude controller, and the following control allocating problem with traditional control surfaces.
3.Integrated trajectory tracking control design of asymmetric variable sweep aircrafts with existence of external disturbances and system physical constraints.
4.UAV hardware experiment platform based on Paparazzi UAV.
一、基于Kane方法的可不对称变后掠翼飞行器多刚体建模。
二、对称和不对称变后掠翼分别作为俯仰和滚转姿态控制器的可行性研究,以及它们与传统舵面协同工作时的控制分配设计。
三、考虑外部扰动和系统物理限制时,可不对称变后掠翼飞行器一体化航迹跟踪控制设计。
四、基于Paparazzi UAV项目的无人机硬件实验平台介绍,以及当前实验进展。
The elevating complexity of modern battlefield requires higher performance and better adaptability of air vehicles. As an important development trend of new generation aircrafts, morphing aircrafts are capable of doing large-scale structural change to achieve optimal aerodynamic characteristic and controllability according to different flight environments and mission requirements. Because of their complex structures and special aerodynamic(dynamic) characteristics, modelling and control of morphing aircrafts have been lasting topics of interest for researchers. Variable sweep is a classical way of aircraft morphing, however, most former researches were done based on single-rigid-body hypothesis. Meanwhile, asymmetricmorphing and the feasibility of using morphing as additional controller were rarely considered. The study on modelling and control of asymmetric variable sweep morphing aircrafts can be enlightening for other morphing aircraft researches, and its importance is quite significant. Our research is supported by the National Natural Science Foundation of China(Grant No61273090). In this paper, we propose an intensive study on multi-body dynamic modelling and flight control of asymmetric variable sweep aircrafts, and report the progress of our UAV hardware experiment platform. The major work comprises the following aspects:
1. Multi-body dynamic modelling of asymmetric morphing aircrafts based on Kane's method.
2. The feasibility study of using symmetric(asymmetric) variable sweep morphing as additional attitude controller, and the following control allocating problem with traditional control surfaces.
3.Integrated trajectory tracking control design of asymmetric variable sweep aircrafts with existence of external disturbances and system physical constraints.
4.UAV hardware experiment platform based on Paparazzi UAV.
引文
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