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Publishing Language: Chinese

Transition mode control scheme of tilt rotor UAV based on INDI

Shuangxi LIU1,2, Zehuai LIN3, Wei LIU4, Binbin YAN3, Wei HUANG1,2()
College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
Hypersonic Technology Laboratory, National University of Defense Technology, Changsha 410073, China
School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
Shanghai Aerospace Equipment Manufacturer Co., Ltd, Shanghai 200245, China
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Abstract

This paper proposes an Incremental Nonlinear Dynamic Inverse (INDI) control scheme for the problem of transition mode control of Tilt Rotor Unmanned Aerial Vehicle (TRUAV). Firstly, based on the dynamic characteristics of the quadrotor TRUAV, a longitudinal motion model suitable for control is established. Then, the virtual control command and control allocation methods are studied, and an adaptive tilt scheme for the transition mode of the TRUAV is designed based on these methods. Subsequently, based on the incremental nonlinear dynamic inverse control theory, the inner/outer loop controllers for the altitude, velocity and attitude transition modes are designed, as well as a mixed control method for rotor and rudder deflection control quantities. Finally, simulation experiments validate the effectiveness of the adaptive tilt scheme based on virtual control command allocation, as well as the robustness of the altitude, velocity, and attitude controllers.

Keywords

tilt rotor unmanned aerial vehicleincremental nonlinear dynamic inversetransition modeadaptivedynamic modeling
CLC number: V249.12 Document code: A Article ID: 1000-6893(2024)17-529685-15

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Acta Aeronautica et Astronautica Sinica
Volume 45 Issue 17,
September 2024
Article number: 529685
DOI: 10.7527/S1000-6893.2024.29685
Cite this article:
LIU S, LIN Z, LIU W, et al. Transition mode control scheme of tilt rotor UAV based on INDI. Acta Aeronautica et Astronautica Sinica, 2024, 45(17): 529685. https://doi.org/10.7527/S1000-6893.2024.29685
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