Abstract
The controllability and stability of quad-tilt-rotor aircraft in helicopter mode are modeled and analyzed, which will provide a theoretical guidance for the subsequent control system design. First of all, the flight dynamics model is established considering rotor-wing interference and verified with relevant experiments. Then, a control strategy for helicopter mode is proposed with trim characteristic analysis. Finally, corresponding control efficiency and cross coupling are calculated and analyzed along with characteristics of the stability derivatives and eigenvalues. The results show that the value of heading control efficiency is much smaller than that of other channels. The longitudinal force and pitch moment caused by vertical control input increase with the increase of the velocity. Yawing moment caused by lateral control input shows similar variations. The velocity stability becomes worse with the increase of the velocity. The stability of all other modes is augmented as velocity increases except the spiral mode.
Highlights
The controllability and stability of quad⁃tilt⁃rotor aircraft in helicopter mode are modeled and analyzed, which will provide a theoretical guidance for the subsequent control system design
A control strategy for helicopter mode is proposed with trim characteristic analysis
The results show that the value of heading control efficiency is much smaller than that of other channels
Summary
LW = q S C WSS WSS L,WSS + q S C WFS WFS L,WFS DW = q S C WSS WSS D,WSS + q S C WFS WFS D,WFS MW = qWSS SWSS cCM,WSS + qWFS SWFS cCM,WFS ( 7) 式中: LW 为机翼升力;DW 为机翼阻力;MW 为机翼俯 仰力矩;CL,CD,CM 为对应的升力系数,阻力系数和 俯仰力矩系数。 根据机翼的气动中心,可以计算得 到机体坐标系中机翼产生的力( XW,YW,ZW) T 和力 矩( LW,MW,NW) T。 1.3 机身和垂尾模型 ÉêXF ùú éê - qF∞ SF CDF ùú êYF ú ëêêZF ûúú Ûú éê - qVT∞ SVT CDVT ùú ê - qVT∞ SVT CLVT ú ëê ûú éê LVT ùú éê 0 êMVT ú = ê zVT ëêê NVT ûúú ëêê - yVT 2.2 配平计算 进行配平计算时,飞行器的飞行高度为 50 m, 重心位置 O 位于机体构造基准线上并在两倾转轴 纵向位置的中点。 根据参考文献[ 19] 对倾转四旋 翼飞行器过渡走廊的研究,在固定翼模式下飞行器
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