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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >MPC Flight Control for a Tilt-Rotor VTOL Aircraft
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MPC Flight Control for a Tilt-Rotor VTOL Aircraft

机译：MPC飞行控制倾斜转子VTOL飞机

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摘要

This article presents a model predictive control (MPC) controller and its novel application to a hybrid tilt-quadrotor fixed-wing aircraft, which combines vertical takeoff and landing (VTOL) capabilities with high-speed forward flight. The developed MPC controller takes a velocity command from the pilot and then computes optimal attitude setpoints and propeller-tilt angles that are supplied to a fast inner attitude controller. A control allocation algorithm then maps the output of the inner attitude loop to actuator commands. The proposed MPC and control allocation of this article constitute a unified nonlinear control approach for tilt-rotor VTOL aircraft, valid in all flight modes and transitions in between. The whole approach is verified both in simulations and in real-world outdoor experiments with a remote controlled VTOL aircraft transitioning from hover to high speed and vice versa in a stable and controlled manner. Results show superior performance compared to the common binary-switch transition strategy between multicopter flight mode and the fixed-wing flight mode. The MPC controller also consistently performs better than a previously developed fused-PID control architecture in our tests.
机译：本文介绍了模型预测控制（MPC）控制器及其在混合倾斜 - 四轮电机固定翼飞机上的新应用，它将垂直起飞和着陆（VTOL）能力与高速前进飞行相结合。开发的MPC控制器从导频采用Velocity命令，然后计算提供给快速内姿态控制器的最佳姿态设定值和螺旋桨倾斜角度。然后，控制分配算法将内部姿态循环的输出映射到执行器命令。本文提出的MPC和控制分配构成了倾斜转子VTOL飞机的统一非线性控制方法，在所有飞行模式中有效，在其间之间的转换。整个方法在模拟和现实世界户外实验中验证，遥控VTOL飞机从悬停到高速转换，并以稳定和控制的方式从悬停到高速。结果显示出与多功能飞行模式和固定翼飞行模式之间的共同二进制开关转换策略相比的卓越性能。 MPC控制器还始终如一地执行我们测试中先前开发的融合PID控制架构。

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