空间控制技术与应用2023，Vol.49Issue(6)：38-46,9.DOI:10.3969/j.issn.1674-1579.2023.06.004
欠驱动VTOL飞行器的自耦PID控制方法
Auto-Coupling PID Control Method for Underactuated VTOL Aircraft
摘要
Abstract
To solve the control problem of non-minimum phase underactuated vertical taking-off and landing(VTOL)aircraft,an ACPID(auto-coupling proportional-integral-differrential)control method is proposed.Firstly,coordinate transformation is used to map the center of mass of VTOL aircraft to Huygens vibration center,which can not only realize decoupling of control input of the new system,but also avoid zero dynamic instability of non-mini-mum phase VTOL aircraft.Then,Huygens vibration center is designed with ACPID controller in vertical and hori-zontal directions respectively,and the bottom thrust and the virtual instruction of roll attitude angle for VTOL air-craft are obtained respectively,and then the ACPID controller of the roll attitude angle is designed to form the roll torque,so as to realize the position tracking control of VTOL aircraft system.Finally,the robust stability and anti-disturbance robustness of the closed-loop control system are proved by the complex frequency domain analysis theo-ry.Theoretical analysis and simulation results show the effectiveness of the proposed method,which has important scientific significance and wide application prospects in the field of non-minimum phase underactuated control sys-tem.关键词
自耦PID控制/垂直起降飞行器/非最小相位/欠驱动系统/坐标变换Key words
auto-coupling PID control/vertical take-off and landing aircraft/non-minimum phase/underactuated system/coordinate transformation分类
信息技术与安全科学引用本文复制引用
曾喆昭,章禛昊..欠驱动VTOL飞行器的自耦PID控制方法[J].空间控制技术与应用,2023,49(6):38-46,9.基金项目
湖南省教育厅重点资助项目(21A0183)The key subject of Hunan Education Department(21A0183) （21A0183）
