重庆理工大学学报2025，Vol.39Issue(9)：170-178,9.DOI:10.3969/j.issn.1674-8425(z).2025.05.021
全驱动三轴可倾转旋翼飞行器位姿解耦控制研究
Research on decoupled position and attitude control of a fully actuated tricopter with tiltable rotors
摘要
Abstract
Traditional tricopters suffer from coupling between position and attitude control due to the number of control inputs being fewer than the degrees of freedom,which limits maneuverability.To address this issue,a fully actuated tricopter with tiltable rotors featuring a coaxial dual rotor design is proposed.This design enables decoupled control of position and attitude,thereby broadening the application scenarios for multi-rotor aircraft.First,the configuration of the aircraft is designed.A dynamic model of the aircraft is established using Newton-Euler methodology.A control allocation scheme for the aircraft is devised employing variable substitution.To accomplish substantial alterations in attitude angle,unit quaternions are employed for representing the orientation.A cascaded PID control method is adopted to design the position and attitude controllers for the aircraft.Finally,a simulation platform is built in Simulink,and a real-machine validation platform is set up based on the Ardupilot flight control system.Experimental results indicate the fully actuated tricopter with tiltable rotors achieves decoupled control of its position and attitude,enabling maneuvers that can't be achieved by underactuated aircraft,such as hovering with attitude changes and trajectory tracking with a fixed attitude.关键词
全驱动/倾转旋翼/控制分配/共轴双旋翼/单位四元数Key words
fully actuated/tiltable rotors/control allocation/coaxial rotor/unity quaternion分类
航空航天引用本文复制引用
徐一村,李豪,杨炯,刘世飞,仝永点..全驱动三轴可倾转旋翼飞行器位姿解耦控制研究[J].重庆理工大学学报,2025,39(9):170-178,9.基金项目
国家重点研发计划青年科学家项目(2023YFB3306600) （2023YFB3306600）
