Abstract
The wind field has a great influence on the control stability of Tilt-rotor unmanned aerial vehicle (UAV), especially during the take-off and landing phase. The airspeed of UAV is so small during these phases that it cannot generate stable aerodynamic forces, which will significantly reduce the wind robustness of Tilt-rotor UAV. In this article, the disturbance of wind field is analyzed from two perspectives: the wind field acting on the UAV fuselage, which is regarded as external interference, and the wind acting on the propeller, which is considered as modeling error. After analyzing the interference mechanism of wind field, a generalized extended state observer (GESO) and a $H\infty $ robust control method with mixed sensitivity are proposed, which could empower the Tilt-rotor UAV with good interference suppression ability as well as better performance tracking ability. Finally, the laboratory simulation and flight experiment are studied. The results validate the theory and prove that the proposed method could resist the interference of wind field and shows excellent control effect.
Highlights
Integrating the advantages of fixed-wing aircraft and helicopter, the Tilt-rotor unmanned aerial vehicle (UAV) has received wide attention with the development of aviation industry [1]-[4]
The main contributions of this work can be summarized as following: (1) Two aspects of the wind field disturbance are analyzed: the wind field acting on the UAV fuselage, which is regarded as external interference, and the wind acting on the propeller, which is considered as a modeling error
As the Tilt-rotor UAV has small airspeed during the take-off and landing phase, it is more susceptible to aerodynamic interference of wind field
Summary
Integrating the advantages of fixed-wing aircraft and helicopter, the Tilt-rotor unmanned aerial vehicle (UAV) has received wide attention with the development of aviation industry [1]-[4]. These researches have improved the flight performance of the Tilt-rotor UAV, most of the related studies focus on the simulation phase, while the mechanism of wind field interference at low airspeed is rarely studied. The characteristics of high computational complexity and slow convergence of these control methods may result in the decline of the dynamic performance of the controlled object in practical applications It is still a challenging and meaningful task to construct an effective control algorithm in practical application of Tilt-rotor UAV. (3) To deal with the external disturbance and internal modeling error caused by wind field, a H robust control with mixed sensitivity is proposed, which could bring better interference suppression ability and performance tracking ability to the system. Take the right motor as an example: Cmbr Rx (90o r ) 0 sin r cos (2)
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