Control of a Hovering Mini Fixed Wing Aerial Vehicle
Control of a Hovering Mini Fixed Wing Aerial Vehicle
复制标题
悬停微型固定翼飞行器的控制
DOI：
10.2514/6.2009-5794
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
A. Desbiens
中科院分区：
文献类型：
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作者：
P. Bilodeau;É. Poulin;E. Gagnon;F. Wong;A. Desbiens
本文介绍了一种设计微型固定翼飞行器悬停模式稳定控制策略的方法。这种飞行模式使得能够在受限环境中导航。惯性测量单元用于测量姿态。与之前采用车载传感器进行姿态传感的研究相比，车载传感器增加的质量对开发功能性自动驾驶汽车提出了更大的挑战。线性传递函数被提出用于慢速凌日建模的姿态。该设计是通过涉及尼科尔斯图的频域方法来实现的。悬停飞行器的控制需要有效的调整方法，能够确保鲁棒性以解决模型误差。仿真和飞行测试结果显示了使用所提出的调整方法获得的性能。
This paper describes an approach for designing a stabilizing control strategy of a mini fixed wing aerial vehicle in hovering mode. This flight mode gives the ability to navigate inside a constrained environment. An inertial measurement unit is used to measure the attitude. The increased mass due to the on-board sensor poses a greater challenge to developing a functional autonomous vehicle than previous studies that employed o-board sensors for attitude sensing. Linear transfer functions are proposed for attitude with slow transits modeling. The design is achieved with a frequency domain method involving the Nichols chart. The control of a hovering vehicle requires ecient tuning methods capable of insuring robustness to account for model errors. Simulation and flight test results are presented to show the performance obtained with the proposed tuning method.