机器人2025，Vol.47Issue(3)：394-404,11.DOI:10.13973/j.cnki.robot.250001
基于模型校正MPC和PID混合控制的倾转旋翼无人机过渡模态飞行控制方法
Transition Mode Flight Control Method of TRUAVs Based on Hybrid Control of Model Calibration MPC and PID
摘要
Abstract
For the height and attitude control issues in the transition mode of TRUAVs(tilt-rotor unmanned aerial vehicles),the MPC(model predictive control)method is introduced into the height and attitude control loop of the rotor controller,and a hybrid control algorithm based on model calibration MPC and PID(proportional-integral-derivative)control is designed.The MPC controller and its proportion are iteratively optimized to improve the dynamic characteristics in the transition mode of TRUAVs.Firstly,a dynamic model of a tilting multi-rotor UAV(unmanned aerial vehicle)is established,in which the rotor/wing interference and model dynamic changes are considered as uncertain dynamics.Then,the uncertain dynamics are estimated offline,and combined with a model calibration MPC controller,and the height and attitude control algorithm for the transition mode is designed.On this basis,a controller proportion adjustment mechanism is designed to gradually and iteratively improve the accuracy and proportion values of the MPC controller.A simulation environment based on Matlab+X-Plane is established,and the control performance of the proposed control method is also verified through simulation flight.Finally,flight tests are conducted on the test prototype of a tilt tri-rotor UAV.By comparing the results with PID control algorithm,it is shown that the proposed control method can effectively improve the dynamic characteristics in the transition mode of TRUAVs.关键词
倾转旋翼无人机/不确定动态/过渡模态/姿态控制/模型预测控制Key words
TRUAV(tilt-rotor unmanned aerial vehicle)/uncertain dynamics/transition mode/attitude control/model predictive control引用本文复制引用
贺光,黄华平,王祥科,余立..基于模型校正MPC和PID混合控制的倾转旋翼无人机过渡模态飞行控制方法[J].机器人,2025,47(3):394-404,11.基金项目
国家自然科学基金(62003356). （62003356）
