Development of VTOL Research Aircraft Supported by Ducted Fans

在本研究中，我们研制了一种导管风扇支承的垂直起降飞行器。主要是围绕气动问题、稳定性与操纵问题、飞行控制系统设计等技术问题进行的实验研究。为了对管道风扇垂直起落架飞机进行详细的研究，研制了一种由四个管道风扇支撑、由一个往复发动机驱动的遥控研究机和起重机试验台等试验设施。帮助远程驾驶的自动飞行控制系统旨在控制这些模型的姿态和高度。该控制系统使用惯性导航系统和微波高度计作为传感器。执行机构采用伺服电机控制风扇叶片的螺距和发动机的节气门。利用奇异摄动法从理论上分析了未建模动力学的影响。将鲁棒控制系统理论应用于数字飞行控制系统的设计。将理论分析结果与多种台架控制试验和自由飞行试验结果进行了比较。经过大量的飞行试验，研究模型在悬停和低速飞行状态下实现了较好的姿态和高度自动稳定。

In this research an experimental VTOL aircraft supported by ducted fans is developed. Main purpose is the experimental studies conceming the technical issues such as aerodynamic problem, stability and control problem, design of flight control system, etc.. A remotely piloted research aircraft supported by four ducted fans driven by a reciprocal engine and the test facilities such as crane type test stand are developed for the purpose of detailed investigation of ducted fan type VTOL aircrafts. Automatic flight control systems which aid remote piloting are designed to control the attitude and altitude of these models. The control system uses an inertial navigation system and a micro-wave altimeter as sensors. The servo motors to control fan blade pitch and engine throttle are used as actuators. The effect of unmodeled dynamics is analyzed theoretically by using singular perturbation method. Theory of robust control system is applied for the design of digital flight control system. The results of theoretical analysis are compared with the experimental results obtained by many kinds of control tests on test stand and free flight tests. As the result of a lot of flight tests, fairly well automatic stabilization of attitude and altitude of the research model was achieved in hovering and low speed flight condition.