倾转四旋翼自主降落的设计与仿真

doi:10.16182/j.issn1004731x.joss.18-0135

系统仿真学报 ›› 2020, Vol. 32 ›› Issue (9): 1676-1685.doi: 10.16182/j.issn1004731x.joss.18-0135

倾转四旋翼自主降落的设计与仿真

修素朴^1,2,3, 文元桥^1,2,3, 肖长诗^1,2,4, 元海文^1,5, 詹文强^1,4

1.武汉理工大学航运学院,湖北武汉 430063;
2.武汉理工大学智能交通系统研究中心,湖北武汉 430063;
3.国家水运安全工程技术研究中心,湖北武汉 430063;
4.内河航运技术湖北省重点实验室,湖北武汉 430063;
5.武汉工程大学电气信息学院,湖北武汉 430205

收稿日期:2018-03-13 修回日期:2020-03-13 出版日期:2020-09-18 发布日期:2020-09-18
作者简介:修素朴(1985-),男,河南新野,博士生,研究方向为信息导航控制;文元桥(1975-),男,湖北松滋,博士,教授,博导,研究方向水上交通系统仿真。
基金资助:
国家自然科学基金(51579204),国家重点研发计划(2018YFC1407405)

Design and Simulation on Autonomous Landing of a Quad Tilt Rotor

Xiu Supu^1,2,3, Wen Yuanqiao^1,2,3, Xiao Changshi^1,2,4, Yuan Haiwen^1,5, Zhan Wenqiang^1,4

1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China;
2. Intelligent Transportation Systems Research Center, Wuhan 430063, China;
3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China;
4. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China;
5. School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan 430205, China

Received:2018-03-13 Revised:2020-03-13 Online:2020-09-18 Published:2020-09-18

摘要/Abstract

摘要： 针对四旋翼飞行器欠驱动性,提出一种用于自主降落的倾转四旋翼模型。该模型通过使用四个舵机对电机方向的控制来对位置（y）和姿态（roll）进行解耦,可实现倾斜悬停与倾斜飞行,增大了无人机的灵活性,提高了对无人机的位置和姿态的精确控制,使得跟踪和降落效果得到了提高。选取5次多项式来规划轨迹,以求鲁棒性强、距离最优。运用Matlab/Simulink对倾转四旋翼模型分析并验证,结果表明具有该结构的飞行器能够更加快速、准确地降落在斜面或移动平台上。

关键词: 四旋翼, 倾转, 降落, 解耦控制, 轨迹规划

Abstract: Aiming at the under-actuation of general quadrotors, a novel quad tilt rotor model is proposed. The model decouples the y-direction translation and roll rotation of a quadrotor by the four servos used respectively for the tilting control of the four propellers to realized the tilt hover and tilt flight of the UAV, the UAV can keep a tilt attitude which increases the maneuverability and the precise pose position and attitude control of the tilt UAV and ensures a good performance on the trajectory tracking and landing. A 5-degree polynomial optimization is used in UAV trajectory planning for the strong robustness and optimal distance. The quad tilt rotor model is verified by Matlab/Simulink, and the results show that the aircraft with the proposed model could land on a slope or moving platform more quickly and accurately.

Key words: quadrotor, tilt rotor, landing, decoupling control, trajectory planning

中图分类号:

TP391.9

修素朴, 文元桥, 肖长诗, 元海文, 詹文强. 倾转四旋翼自主降落的设计与仿真[J]. 系统仿真学报, 2020, 32(9): 1676-1685.

Xiu Supu, Wen Yuanqiao, Xiao Changshi, Yuan Haiwen, Zhan Wenqiang. Design and Simulation on Autonomous Landing of a Quad Tilt Rotor[J]. Journal of System Simulation, 2020, 32(9): 1676-1685.

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倾转四旋翼自主降落的设计与仿真

Design and Simulation on Autonomous Landing of a Quad Tilt Rotor

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