三旋翼复合式无人机飞行控制技术=An Introduction to Flight Control of Three-duct Compound UAV: 英文/户艳鹏,荆丰伟，曾冠南著

定价：66.00元
出版时间：2023.4

ISBN 978-7-5024-9437-7

9787502494377

This book takes a threerotor compound UAV with tiltrotor tail as the research object, and studies the dynamic modeling and flight control through the combination of theoretical analysis and flight test. The main contents are as follows: （1） Research on flight dynamics modeling methods, including theoretical modeling methods and system identification modeling methods. In the system identification modeling, the AF25B microhelicopter is used as the test platform to carry out the relevant frequency sweep tests. Combined with the flight test data, the system identification method is used to identify part of the dynamic model and modify the model. （2） Research on flight control methods, including the control strategy of converting helicopter flight mode to fixedwing flight mode, the helicopter attitude control method of combining hinfinity loop shaping and dynamic inversion, and the adaptive fuzzy PID position and speed tracking control method based on improved genetic algorithm. （3） The flight path tracking control algorithm and attitude stability control algorithm suitable for fixedwing flight are further designed.

Contents

Chapter 1Introduction

1.1Background

1.2Challenge in flight control

1.2.1Technical characteristic

1.2.2Difficulty and challenge in flight control

1.3Recent research

1.3.1Dynamic modeling

1.3.2Flight strategy and control

1.4Content and structure arrangement

Chapter 2Theoretical Modeling of Threeduct Compound

UAV

2.1Introduction

2.2Overview of threeduct compound UAV

2.3Equation building of motion state

2.3.1Coordinate system

2.3.2Assumption

2.3.3Dynamics equation

2.3.4Kinematical equation

2.3.5Mass change equation

2.4Aerodynamic model of ducted rotor

2.4.1Aerodynamic of ducted rotor in hover

2.4.2Aerodynamic of ducted rotor in low speed flight

2.4.3Verification of calculation result

2.5Tail auxiliary ducted rotor

2.6Propeller

2.7Fuselage

2.8Summary

Chapter 3Dynamic Modeling with System Identification

3.1Characteristic and theoretical basis

3.1.1Crosscorrelation function

3.1.2Autocorrelation function

3.2Flight test platform

3.3Identification data processing

3.3.1Data outlier removal and correction

3.3.2Data filtering

3.3.3Data consistency analysis

3.3.4Coherence analysis

3.4Identification of flight dynamics model

3.4.1Multiple input multiple output identification

3.4.2Multiple input single output identification

3.4.3Single input single output identification

3.5Summary

Chapter 4Control Strategy in Transition Mode

4.1Control strategy for transition

4.1.1Mathematical model

4.1.2Optimal control

4.2Summary

Chapter 5Flight control of threeduct compound UAV

5.1H∞ robust control

5.1.1Control theory basis

5.1.2Matematical model considering uncertainty

5.1.3Controller design based on dynamic inverse and loop shaping

5.1.4Simulation

5.2Fuzzy PID control

5.2.1Fuzzy control

5.2.2Controller design based on improved genetic optimization

algorithm

5.2.3Simulation

5.3Fixedwing mode flight control

5.3.1Pathtracking control

5.3.2Attitude control

5.4Flight test

5.4.1Fixedpoint hover test

5.4.2Forward flight test

5.5Summary

References