Hover control of a thrust-vectoring aircraft

Abstract

In this paper, the hover control method of a thrust-vectoring aircraft is discussed, which is thefirst step to realize vertical takeoff and landing (VTOL) as a tail-sitter. To avoid the gimbal lock problem,vertical Euler angles are used and a new calculation method of them is presented. The attitude controllerswitches between horizon mode and vertical mode, with a specially designed switchable control architecture.Linear/constant acceleration approximation is used for attitude control, which aims to get quick response andprevent overshooting at the same time. Special proportion integral derivative (PID) controller with anti-torquecounteraction is proposed to generate servo angles. Experimental results verify the effectiveness of the proposedcontrol method.

创新点

本文对推力矢量飞机的悬停控制方法进行了研究。首先, 为解决欧拉角奇异问题, 提出了一种全新的垂直/水平欧拉角综合姿态解算方法。其次, 设计了一种与该姿态解算方法匹配的变结构控制器, 该控制器采用了线性/恒加速度逼近方法, 可以在获得快速响应的同时防止超调, 对机体姿态有很好的稳定效果。另外, 还设计了一种特殊的对反扭矩进行补偿的PID控制器, 用以准确稳定地产生最终舵机输出量。试验结果验证了本文所述控制方法的有效性。