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首页> 外文期刊>Journal of aerospace engineering >Modeling and Adaptive Control Law Design for a Bi-Tiltrotor Unmanned Aerial Vehicle
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Modeling and Adaptive Control Law Design for a Bi-Tiltrotor Unmanned Aerial Vehicle

机译：双泰尔特洛特无人空中车辆的建模与自适应控制规律设计

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This paper presents modeling and control law design for a bi-tiltrotor unmanned aerial vehicle for autonomous payload delivery. An ultralight bi-tiltrotor aerial vehicle was developed for a payload delivery contest using only two motors attached to a carbon fiber tube with an additional cube basket to carry the payload. To achieve desirable three-dimensional (3D) trajectory tracking performance with unknown payload, an adaptive control system has been developed, which consists of two components: (1) a baseline control law, including a lateral speed controller, forward speed controller, yaw angle controller, and altitude controller; and (2) an adaptive augmentation to all these four channels to compensate for modeling uncertainties and disturbances caused by the payload, which has large influence on system dynamics due to the light weight of the vehicle. A mathematical model of the vehicle has been built using the Newton-Euler method and simplified based on reasonable assumptions to facilitate control design. The baseline control law employs conventional proportional-derivative control structure. Subsequently, L-1 adaptive control theory is adopted in the adaptive augmentation design. Simulation examples verify the efficacy of the proposed adaptive control solution. (C) 2021 American Society of Civil Engineers.
机译：本文介绍了对自主有效载​​荷交付的双泰尔特洛特无人空中飞行器的建模和控制法设计。仅使用连接到碳纤维管的两个电动机的有效载荷输送比赛为有效载荷输送比赛而开发了超广大双倾斜航空公司。为了实现具有未知有效载荷的理想的三维（3D）轨迹跟踪性能，已经开发了一种自适应控制系统，由两个组件组成：（1）基线控制定律，包括横向速度控制器，前进速度控制器，偏航角度控制器和高度控制器; （2）对所有这四个通道的自适应增强，以补偿由有效载荷引起的不确定性和干扰，这对由于车辆的重量重量而对系统动力量具有很大影响。使用牛顿 - 欧拉方法建立了车辆的数学模型，并根据合理假设简化以便于控制设计。基线控制法采用常规的比例衍生物控制结构。随后，采用L-1自适应控制理论在自适应增强设计中采用。仿真实例验证了所提出的自适应控制解决方案的功效。 （c）2021年美国土木工程师协会。

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