论文部分内容阅读
针对倾转三旋翼无人机飞行模式转换中的高度保持问题进行研究,提出一种新的过渡策略,使飞机可以直接从悬停状态开始过渡转换而不需要获得一定初始速度。采用牛顿-欧拉法对过渡模式进行动力学建模分析,建立了纵向动力学模型;通过对模型进行分析给出了倾转角度和前飞速度的一一对应关系,即过渡段走廊曲线;依托倾转三旋翼无人机实验样机,按照两种不同倾转方式进行飞行试验。对地面站遥测数据分析的结果表明:按照走廊曲线倾转,较好地解决了直接倾转时的掉高问题,从而验证了走廊曲线的有效性。
Aiming at the problem of altitude preservation in the flight mode conversion of Tilting Rotor UAV, a new transition strategy is proposed, which allows the aircraft to start the transitional transition directly from the hovering state without obtaining a certain initial velocity. The dynamic model of the transitional mode was established by Newton-Euler method, and the longitudinal dynamic model was established. By analyzing the model, the one-to-one correspondence between the tilting angle and the forward flying speed was given, that is, the curve of the transitional corridor. Relying on tilting three-rotor UAV experimental prototype, according to two different tilting flight test. The results of telemetry data analysis of the ground station show that the corridor curve is validated by tilting according to the corridor curve, which can well solve the problem of falling during direct tilting.