文档介绍：
基于虚拟力导向的涵道飞行器非线性控制#
侯庆明,郑义,赵杰,金弘哲**
(哈尔滨工业大学机电工程学院,哈尔滨 150080)
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摘要:引入一种新型的涵道无人飞行器,其控制舵为四个对称安装在涵道尾部的回转轮。回
转轮表面与涵道风扇喷射气流之间的相互作用产生了与回转轮转速成正比的气动升力,这种
现象在流体力学中被称为马格努斯效应。对于涵道无人飞行器来说,一个普遍存在的问题是,
俯仰(横滚)前向运动对偏航运动高度敏感。控制舵需要产生能够自动调整的气动升力,以
维持俯仰前向运动的稳定性。最后,提出了一种基于整体飞行动力学的控制舵和位置姿态控
制器设计方法。
关键词:涵道风扇;飞行器;虚拟力;非线性耦合;马格努斯效应
中图分类号:
Nonlinear Control of DF-UAV Based on Virtual Force
Guidance
Hou Qingming, Zheng Yi, Zhao Jie, Jin Hongzhe
(School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080)
Abstract: The current article introduces a ducted-fan unmanned aerial vehicle (DF-UAV) with a
steering engine that has four cylinders symmetrically installed at the aft inside the duct. Interaction
between the spinning cylinder surface and the duct jet flow causes aerodynamic lift proportional to
angular velocity of the cylinder. This phenomenon is referred to as Magnus effect in fluid
mechanics. As mon problem in DF-UAV, pitch-forward (roll-forward) stability is highly
sensitive to yaw motion. A self-adjusting function on the aerodynamic lift is needed for the
steering engine controller to retain pitch-forward stability. For this purpose, the present work
proposes a coordinated design of steering engine controller and position-attitude controller that is
based on integrated flight dynamics.
Key words: ducted fan; aeri