基于不确定干扰估计器的扇翼飞行器强耦合控制系统研究

With the help of a propulsive wing, FanWing replaces the conventional fuselage with an extremely thick wing with partially embedded, distributed cross-flow fans for both thrust and flow control. FanWing is becoming a research hotspot for its performances that between a conventional aircraft and a helicopter. As a new unmanned aircraft potentially serving both military and civilian markets, FanWing has a broad prospect. However, the domestic research on FanWing has just begun. Scientists mostly concentrate on the optimization of the fan-wing structure, but rarely consider the flight control system. There is still a lot of work to do about the theoretical research and engineering applications. Therefore, the project focuses on the key problems of the FanWing flight control system. To improve the control efficiency of the traditional aerodynamic surfaces control, a technique that we called ‘fan wing control system’ is proposed. According to the high pitch angle flight of FanWing, the longitudinal take-off and landing control systems are presented. To obtain the pitch attitude stability control, a control solution based on pitch angle rate is proposed. And the combination control of the elevator and the fan wing is proposed to actualize the stability control of longitudinal attitude and height control. On this basis, the control method based on uncertainty and disturbance estimator (UDE) is applied to the control system of FanWing. The coupling between the longitudinal attitude and height control brought by the additional nose down moment is solved. And the coupling between the lateral yaw and roll control brought by the gyroscopic precession moment is solved. Finally, the whole process of autonomous flight of FanWing is realized and verified by hardware-in-loop simulation, which provides theoretical basis and technical support for the practical application.

扇翼飞行器通过在机翼前缘嵌入横流式风扇进行升力和推力控制，其性能介于固定翼飞机和直升机之间，在民用和军用上获得很大的发展潜力，成为近年来的研究热点。而国内研究刚刚起步，大多集中在飞行器结构设计方面，飞控系统的相关理论研究和工程应用有待进一步深入。因此，本项目重在研究解决扇翼飞行器控制系统设计中的关键问题。为改善飞行器舵面操纵效率低的问题，提出扇翼转速控制系统。针对扇翼飞行器可以保持大姿态角飞行的特点，完成起飞段和着陆段纵向控制方案的设计。提出基于俯仰角速率指令内回路的控制方案，采用常规舵面和扇翼转速的组合控制方案，实现着陆段高度和姿态的稳定控制。并在此基础上引入不确定干扰估计器的控制方法，解决由扇翼转动产生附加低头力矩引起的纵向高度与姿态耦合问题，以及陀螺进动力矩引起的横侧向滚转偏航耦合问题。最终实现其全过程自主飞行，并进行半物理仿真验证，为扇翼飞行器走进实际应用提供理论基础和技术支持。

扇翼飞行器是不同于常规固定翼飞机和旋翼机的新原理、新概念飞行器，其结构和操控简单，兼顾两种飞行器特性，具有高飞行效率、高载荷、低噪声和短距起降等优点，拥有广阔的应用前景。本研究以实现扇翼飞行器全过程自主飞行为目标，针对扇翼飞行器飞行速度低引起舵面操纵效率低问题，扇翼转动附加低头力矩引起纵向高度控制和姿态控制耦合问题，以及陀螺进动力矩引起横侧向滚转和偏航控制耦合问题，进行扇翼飞行器飞行控制系统设计。主要工作如下：.（1）完成扇翼飞行器空中段控制系统设计。首先，研究扇翼飞行器动力原理，建立飞行器六自由度模型；然后，进行常规舵面控制系统设计，并提出扇翼转速控制方案，解决飞行器常规舵面操纵效率低问题，实现飞行器应急飞控系统设计；最后，研究附加低头力矩对飞行器控制系统设计影响，以及飞行器简化配置控制方案设计，为飞行器工程应用提供理论依据。.（2）完成扇翼飞行器起飞段控制系统设计。进行常规舵面及扇翼转速控制系统设计，并在此基础上，研究重心位置、扇翼转速、载重及升降舵偏转量对飞行器短距起飞性能的影响。.（3）完成扇翼飞行器着陆段控制系统设计。提出基于角速率指令内回路的组合控制方案，实现飞行器安全着陆。在此基础上提出基于不确定干扰估计器的控制方案，解决扇翼转动带来的控制耦合问题，最终实现飞行器飞控系统优化。.以第一作者发表学术论文4篇，其中SCI检索论文3篇，EI检索会议论文1篇，以第一发明人授权国家发明专利1项。