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针对无人机单侧副翼大角度卡死的情况,研究了基于飞行状态的配平方法和策略选择问题。首先进行理论分析和实际计算,提出了利用侧滑角配平的方案;进而根据不同的配平方案得出配平策略:在空中飞行阶段,为了保证飞机具有较大的操纵能力,可以加入较大的侧滑角配平;在返航着陆阶段,可以加入较大的左副翼。最后通过PID控制器设计对两种配平方案分别进行了仿真验证,证明了方案的正确性及响应的快速性。
Aiming at the situation of unilateral large ailerons jamming at high angles, the flight-based balancing method and strategy selection problem are studied. Firstly, the theoretical analysis and actual calculation are put forward, and the scheme of using the side slip angle is proposed. In addition, the trim strategy is obtained according to the different balance schemes: in the flight phase, in order to ensure the large maneuvering ability of the aircraft, a larger side Slip angle trim; landing phase in the return, you can join the larger left aileron. Finally, the PID controller design is used to verify the two schemes respectively, which proves the correctness of the scheme and the rapid response.