南京航空航天大学学报（英文版）2024，Vol.41Issue(3)：263-277,15.DOI:10.16356/j.1005-1120.2024.03.001
基于仿生技术的尾座式VTOL无人机起降稳定控制及轨迹优化
Stability Control and Trajectory Optimization of Tail-Sitter VTOL UAV Takeoff/Landing Incorporating Bionic Technology
摘要
Abstract
The tail-sitter vertical takeoff/landing(VTOL)unmanned aerial vehicle(UAV)exhibits poor stability and limited compatibility with traditional landing gears.To address the aforementioned issues,a novel landing gear incorporating free-tail technology is proposed.The landing gear adopts a tandem multi-stage structure,which can ensure the length of the tail force arm in cruise condition while lowering the fuselage altitude.Furthermore,the dynamic landing process is regulated through the employment of virtual centroid force distribution techniques,streamlining the control process and facilitating seamless trajectory optimization during mode transition.Based on the single-point dataset of the cat center point,a neural network is used to train the landing gear control,which makes the landing gear adaptive takeoff and landing speed and accuracy effectively improved.Subsequently,multi-objective optimization and similarity conversion are executed in conjunction with parameter requirements of different modes of the UAV,effectively enhancing landing adaptability and stability of the tail-sitter VTOL UAV.关键词
无人机/垂直起降/起飞/着陆技术/稳定性控制/仿生技术Key words
unmanned aerial vehicle(UAV)/vertical takeoff/landing(VTOL)/takeoff/landing technology/stability control/bionic technology分类
航空航天引用本文复制引用
齐浩,李青洋,吴嘉越,彭一明,聂宏,魏小辉..基于仿生技术的尾座式VTOL无人机起降稳定控制及轨迹优化[J].南京航空航天大学学报（英文版）,2024,41(3):263-277,15.基金项目
This work was supported by the Na-tional Defense Outstanding Youth Science Foundation(No.2018-JCJQ-ZQ-053),the National Natural Science Founda-tion of China(No.52275114),the China Postdoctoral Sci-ence Foundation Funded Project(No.2019M651827),and the Priority Academic Program Development of Jiangsu Higher Education Institutions. （No.2018-JCJQ-ZQ-053）
