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Flight Testing of a Gain-Scheduled Stability and Control Augmentation System for a Quad-Tilt-Wing UAV

机译：四倾斜翼无人机增益计划的稳定性和控制增强系统的飞行测试

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摘要

This paper reports the flight test results of a gain-scheduled (GS) stability and control augmentation system (SAS and CAS) for a small quad-tilt-wing (QTW) unmanned aerial vehicle (UAV). A QTW-UAV is a type of vertical take-off and landing (VTOL) UAV that is able to transition between VTOL mode and airplane mode by varying the directions of the four thrusters installed on the four separated wings. A multi-input multi-output PD (proportional-derivative) controller is applied for the GS-SAS to stabilize the unstable dynamic characteristics. A GS-CAS that is composed of an attitude-hold controller and a turn coordinator is implemented to facilitate flying the QTW-UAV by a remote ground pilot The flight test results including pilot comments have shown that the proposed flight controller enables the QTW-UAV to perform stable transition flight and provides better handling qualities than the previously implemented controller.
机译：本文报告了针对小型四倾翼（QTW）无人机（UAV）的增益调度（GS）稳定性和控制增强系统（SAS和CAS）的飞行测试结果。 QTW-UAV是一种垂直起降（VTOL）无人机，通过改变安装在四个分开的机翼上的四个推进器的方向，能够在VTOL模式和飞机模式之间转换。 GS-SAS采用了多输入多输出PD（比例微分）控制器，以稳定不稳定的动态特性。实施了由姿态保持控制器和转弯协调器组成的GS-CAS，以方便远程地面飞行员驾驶QTW-UAV。飞行测试结果（包括飞行员评论）表明，拟议的飞行控制器使QTW-UAV能够运行执行稳定的过渡飞行，并提供比以前实现的控制器更好的操纵质量。

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