倾转四旋翼飞行器直升机模式操纵策略研究

周攀; 陈仁良; 俞志明

doi:10.13224/j.cnki.jasp.20200384

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倾转四旋翼飞行器直升机模式操纵策略研究

气动热力学与总体设计 | 更新时间：2025-04-07

- 倾转四旋翼飞行器直升机模式操纵策略研究
- Investigation of control strategy for quad⁃tilt⁃rotor aircraft in helicopter mode
- 航空动力学报 2021年36卷第10期页码：2036-2051
- 作者机构：
  
  南京航空航天大学航空学院直升机旋翼动力学国家级重点实验室，南京 210016
- 作者简介：
  
  周攀（1992-），男，博士生，主要从事直升机飞行力学与控制方面的研究。
- 基金信息：
  
  国家自然科学基金(11672128);江苏高校优势学科建设工程资助项目
- DOI：10.13224/j.cnki.jasp.20200384
  中图分类号：
- 稿件说明：
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周攀, 陈仁良, 俞志明. 倾转四旋翼飞行器直升机模式操纵策略研究[J]. 航空动力学报, 2021,36(10):2036-2051.

Pan ZHOU, Renliang CHEN, Zhiming YU. Investigation of control strategy for quad⁃tilt⁃rotor aircraft in helicopter mode[J]. Journal of Aerospace Power, 2021, 36(10): 2036-2051.
周攀, 陈仁良, 俞志明. 倾转四旋翼飞行器直升机模式操纵策略研究[J]. 航空动力学报, 2021,36(10):2036-2051. DOI： 10.13224/j.cnki.jasp.20200384.

Pan ZHOU, Renliang CHEN, Zhiming YU. Investigation of control strategy for quad⁃tilt⁃rotor aircraft in helicopter mode[J]. Journal of Aerospace Power, 2021, 36(10): 2036-2051. DOI： 10.13224/j.cnki.jasp.20200384.

摘要

由于倾转四旋翼飞行器具有特殊的构型，针对直升机模式下的操纵策略，建立了样机的非线性飞行动力学模型并结合试验数据进行了验证，提出了适用于直升机模式的四种操纵方式，对比了不同操纵方式相应的配平值、操纵功效及操纵耦合，随后确定了一组相对合理的操纵方式，解决了倾转四旋翼飞行器在直升机模式下操纵冗余的问题。分析了重心位置对所确定操纵方式的配平特性和操纵功效的影响。结果表明：纵横向通道下总距差动引起的操纵功效比周期变距联动大得多；偏航通道下周期变距差动引起的操纵功效大于总距差动，横向周期变距差动引起的交叉耦合小于纵向周期变距差动；正常重心位置所得到的配平量和交叉耦合最小。

Abstract

Quad⁃tilt⁃rotor aircraft is a vehicle of particular configuration.For its strategy of the helicopter mode，a nonlinear flight dynamic model was established for a prototype，and some relevant test were carried out.Four control strategies were proposed，and a relatively reasonable control strategy was determined by comparing the trim values，control efficiency and cross coupling.The control redundant problem of quad⁃tilt⁃rotor aircraft in helicopter mode was solved under the strategy.At last，the influence of the center of gravity location on trim characteristics and control efficiency was analyzed.The results showed that the main control efficiency of longitudinal and lateral channel obtained by collective differential was much greater than by linkage of cyclic pitch.The main control efficiency of yaw channel obtained by cyclic pitch differential was greater than by collective differential.The cross coupling of yaw channel obtained by lateral cyclic pitch differential was less than longitudinal cyclic pitch differential.The values of trimming and cross coupling were the minimum at the normal position of center of gravity.

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references

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