Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation

LIAO Wenan; ZHANG Xiaojun; DENG Jinlai; YANG Yunjie

doi:10.11959/j.issn.2096-6652.202510

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Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation

Special Column: Embodied Intelligence and Specialized Robot | 更新时间：2025-06-10

- Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation
- Chinese Journal of Intelligent Science and Technology Vol. 7, Issue 1, Pages: 114-127(2025)
- 作者机构：
  
  1.清华大学精密仪器系，北京 100084
  2.时空信息精密感知技术全国重点实验室，北京 100084
  3.中航工业成都飞机设计研究所，四川成都 610091
- 作者简介：
- 基金信息：
  
  National Natural Science Foundation of China(62203259;62073185);Pre Research Project of AVIC Chengdu Aircraft Design and Research Institute, Aeronautical Science Foundation of China
- DOI：10.11959/j.issn.2096-6652.202510
  CLC： TP273
- Received：02 September 2024，
  
  Revised：2024-11-05，
  
  Published：15 March 2025
- 稿件说明：
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廖文安,张骁骏,邓金来等.基于两级控制分配的倾转旋翼无人机飞行控制[J].智能科学与技术学报,2025,07(01):114-127.

LIAO Wenan,ZHANG Xiaojun,DENG Jinlai,et al.Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation[J].Chinese Journal of Intelligent Science and Technology,2025,07(01):114-127.
廖文安,张骁骏,邓金来等.基于两级控制分配的倾转旋翼无人机飞行控制[J].智能科学与技术学报,2025,07(01):114-127. DOI： 10.11959/j.issn.2096-6652.202510.

LIAO Wenan,ZHANG Xiaojun,DENG Jinlai,et al.Flight control of tilt-rotor unmanned aerial vehicle based on two-level control allocation[J].Chinese Journal of Intelligent Science and Technology,2025,07(01):114-127. DOI： 10.11959/j.issn.2096-6652.202510.

摘要

作为一种特种机器人，倾转旋翼无人机展现出了其在复杂环境中执行任务的巨大潜力。为提高其自主性和对复杂环境的适应性，对鲁棒的飞行控制律和控制分配算法进行了研究。针对倾转旋翼无人机不同飞行模式中控制策略和舵面操纵效能变化大的特点，提出了基于两级控制分配的级联式飞行控制框架。针对不同的控制模式设计顶层控制器，基于加权广义逆方法的力控制分配模块生成姿态角指令，设计力矩控制分配模块生成实际操纵量。姿态控制器采用双闭环控制结构，结合扰动观测器提高对外部扰动的鲁棒性。最后，通过全流程仿真和干扰条件下过渡仿真验证了飞行控制框架和控制器的有效性和鲁棒性。

Abstract

As a special type of robot

tilt-rotor unmanned aerial vehicles have demonstrated great potential in performing tasks in complex environments. To improve its autonomy and adaptability to complex environments

robust flight control law and control allocation method was studied. A cascaded flight control framework based on two-level control allocation was proposed for the significant changes in control strategy and control effectiveness of tilt-rotor unmanned aerial vehicle in different flight modes. A top-level controller was developed for various control modes

and the actual control quantity was generated by a torque control allocation module in conjunction with attitude angle commands using a force control allocation module based on the weighted generalized inverse method. The attitude controller was designed based on a dual closed-loop control structure

and a disturbance observer was added to improve the robustness to external disturbances. Finally

the effectiveness and robustness of the flight control framework and controller were verified by full process simulation and transition simulation under interference conditions.

关键词

Keywords

references

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