文档介绍：
涵道无人飞行器建模与线性鲁棒控制#
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:本文介绍了一种基于马格努斯效应控制舵的涵道飞行器模型。模型所使用的控制舵包
含了四个对称安装在飞行器尾部的回转轮。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,这样可以保证气动升力有足够宽的变化范围。最后,
通过数值仿真,验证了整体飞行动力学模型及其控制方法的有效性。
关键词:涵道风扇;飞行器;马格努斯效应;飞行动力学;解耦控制
中图分类号:
Modeling and Linear Robust Control for a Ducted Fan UAV
Hou Qingming, Zheng Yi, Zhao Jie, Jin Hongzhe
(School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080)
Abstract: A ducted fan aerial vehicle model using Magnus effect steering engine is proposed in
this article. This model utilizes a steering engine prises four cylinders that are
symmetrically installed at the aft inside the duct. Interaction between the spinning cylinder surface
and the duct jet flow causes the aerodynamic lift proportional to angular velocity of the cylinder.
Therefore, operating aerodynamic lift range is guaranteed to be sufficiently wide. The efficiency
of the proposed method is confirmed via numerical simulations on integrated flight dynamics
developed in this study.
Key words: ducted fan; aerial vehicle; Magnus effect; flight dynamics; decoupling control
0 引言
涵道飞行器因为其高推进效率得到了研究人员的广泛关注[1]。通常来说,涵道飞行器中
的控制舵使用的是翼型舵面[2],这是因为翼型有很高的升阻力系数,可以在较小的偏转角下
产生较大的气动升力。但是,当偏转角超出其操作范围后,升阻力系数会大幅减小而且容易
受到外界侧风的影响[3]。因此,在控制舵的设计中经常采用平行多列式的翼型舵面[4,5]。更多
的关于涵道飞行器悬停和前向飞行的鲁棒特性可以参考 iSTAR