光学精密工程2026，Vol.34Issue(4)：599-610,12.DOI:10.37188/OPE.20263404.0599
可倾转双旋翼飞行系统起降控制器设计
Takeoff/landing controller design for a tilted bi-rotor aircraft
摘要
Abstract
To enhance the control strategy of tiltrotor takeoff and landing,a takeoff and landing controller was designed to be validated through flight experiments.Based on the nonlinear dynamic equations of the aircraft,the effects of nonlinear factors associated with generalized forces and attitude coupling on the sta-bility of the takeoff and landing controller were studied.The coupled state equations,which contain the product terms of generalized forces and attitude,were linearized to obtain the feedback gain matrix for sys-tem control optimization.For the actual takeoff and landing process,the aircraft's attitude,acceleration,and flight altitude were independently measured by using a measurement device composed of an onboard in-ertial measurement unit and an ultrasonic ranging unit.The measured flight altitude from the takeoff and landing controller was compared with the simulation of the linearized state equations,and the effects of the designed controller on attitude and flight altitude,as well as the effectiveness of linearizing the coupled state equations,were analyzed.The experiments show that the average measured flight altitude differs from the simulated value by-2 mm,with a maximum difference of 8 mm,and that the trend of variation in the measured flight altitude is consistent with the simulation,indicating that the designed takeoff and landing controller meets the requirements for system control stability.The takeoff and landing controller and method studied in this work can effectively control the aircraft's takeoff and landing,demonstrating practical application value.关键词
非线性系统/非线性控制器/倾转双旋翼/无人机/惯性测量单元Key words
nonlinear system/nonlinear controller/tilted bi-rotor/UAV/IMU分类
信息技术与安全科学引用本文复制引用
王天奇,于海..可倾转双旋翼飞行系统起降控制器设计[J].光学精密工程,2026,34(4):599-610,12.基金项目
国家自然科学基金项目(No.52075520) （No.52075520）
吉林省自然科学基金项目(No.20230101111JC) （No.20230101111JC）
