上海航天（中英文）2024，Vol.41Issue(3)：159-166,8.DOI:10.19328/j.cnki.2096-8655.2024.03.017
全驱动倾转四旋翼式飞枪的建模与控制
Modeling and Control of a Fully-actuated Tilting Quadrotor Gun-armed UAV
摘要
Abstract
Owing to the coupling of position and attitude control,a conventional under-actuated quadrotor gun-armed unmanned aerial vehicle(UAV)is incapable of hovering fire with pitch angles.Besides,the fire control strategy is complicated during the mobile fire process.In this paper,a fully-actuated tilting quadrotor gun-armed UAV is designed as a gun platform,by which not only the system is decoupled but also the control allocation method is simplified.First,the system is modeled by the Newton-Euler method mathematically.Then,a controller is designed based on the backstepping approach,and the stability of the system is verified.Finally,simulation experiments are conducted with the Simulink software.The experimental results demonstrate that the fully-actuated tilting quadrotor gun-armed UAV model designed in this study can achieve decoupled control of position and attitude with a minimal tracking error.It can meet the requirements of hovering and mobile fire missions,and is suitable for flight/fire control systems with high real-time demands.关键词
飞枪(UAV)/全驱动系统/倾转四旋翼无人机(UAV)/反步控制/火控Key words
gun-armed unmanned aerial vehicle(UAV)/fully-actuated system/tilting quadrotor UAV/backstepping control/fire control分类
航空航天引用本文复制引用
曹凡,王军,张驰宸,鲍尚华,谢姜琪,杨玉充..全驱动倾转四旋翼式飞枪的建模与控制[J].上海航天（中英文）,2024,41(3):159-166,8.基金项目
领域基金项目(2021-JCJQ-JJ-0883) （2021-JCJQ-JJ-0883）
