高原型无人机变推力轴线控制技术最新研究进展

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Variable thrust directional control technique for plateau unmannedaerial vehicles

Yin WANG1 & Daobo WANG2

1College of Astronautics, Nanjing University ofAeronautics and Astronautics, Nanjing 210016, China;

2College of Automation Engineering, Nanjing University ofAeronautics and Astronautics, Nanjing 210016, China

Abstract:  In orderto increase the lift force of the unmanned aerial vehicles (UAV) in plateauareas, the UAV is commonly equipped with high span chord ratio wings. However,it may decrease the maneuverability of the aircraft, and thus increasing therisk of flight in complex terrain regions. Thrust vector control is a directforce flight control technique, which enhances the maneuverability andintroduces the residual of the flight control system. In this paper, we developa novel variable thrust direction mechanism, which provides the normalpropeller UAV with the capability of directional force control. We propose acombinational flight control strategy for the newly developed UAV. Simulationsand real flight test demonstrate the performance of the proposed technique inincreasing the maneuverability of the conventional propeller UAV.

关键词:

无人机，推力矢量控制，混合控制，高原应用，螺旋桨引擎

创新点:

   推力矢量是一种直接力/力矩控制技术，大多用于喷气式发动机的推力偏转，而对于普通螺旋桨式发动机的推力矢量技术的研究还并不多见。由于普通螺旋桨发动与喷气式发动机在工作原理和气动力产生机制上的差异，现有的针对喷气式发动机推力矢量的理论与成果不能直接应用于螺旋桨式发动机的无人机飞行控制中。

   该项研究通过在螺旋桨推进器与无人机之间增加二自由度伺服平台，实现了推进器推力轴向的伺服运动。结合该项研究所提出的气动舵面/直接力控制的混合型控制策略，能够有效协同气动力和直接力控制面，从而提高无人机在大机动飞行时的性能。

   这一研究成果能够提高普通螺旋桨型无人机在高原地区飞行的机动性能，具有重要的国防意义和科学意义。