为解决垂直起降VTOL飞行器的轨迹跟踪控制问题,提出一种基于双闭环PD控制的轨迹跟踪控制方法.建立了VTOL飞行器的简化动力学模型,将轨迹跟踪系统分解为位置跟踪系统和姿态跟踪系统;构建了基于位置外环和姿态内环的双闭环PD控制结构,设计了基于前馈补偿的PD控制器;通过快速内环的控制算法保证了系统的稳定性.仿真结果表明,该方法简化控制系统的设计过程,保证VTOL飞行器能够快速准确跟踪给定轨迹,满足欠驱动VTOL飞行器的轨迹跟踪需求.%In order to solve the trajectory tracking control problem of Vertical Take-off and Landing(VTOL) aircraft,a trajectory tracking control method based on double closed-loop PD control is proposed.The simplified dynamics model of VTOL aircraft is established,and the trajectory tracking system is decomposed into position tracking system and attitude tracking system.Double closed-loop PD control structure based on position outer loop and attitude inner loop is constructed,and the PD controller based on feedforward compensation is designed.The fast inner loop control algorithm is used to guarantee the stability of the system.Simulation results show that the above method can simplify the design process of the trajectory tracking control system.The method ensure that the VTOL aircraft can track a given trajectory quickly and accurately,and meet the trajectory tracking requirements of underactuated VTOL aircraft.
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