Control method for detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle

Abstract

The invention provides a control method for a detachable hybrid-driven vertical take-off and landing unmanned aerial vehicle and belongs to the field of structural design of aircrafts. A vehicle body pod is detachable, the sizes and weights of vehicle body pods corresponding to different functions are different, and therefore the high requirement of a whole control system for robustness under the situation of the uncertain weight and rotational inertia parameters of a vehicle body is put forward. According to the control method, aiming at the unmanned aerial vehicle with the detachable vehicle body pod, the speed is controlled through an adaptive sliding mode control scheme, the attitude angle is controlled through a robust adaptive control strategy based on a backstepping approach and feedforward control, thus a controller has the high robustness and adaptive ability when structural parameters and aerodynamic parameters of the unmanned aerial vehicle are changed, operation of the unmanned aerial vehicle with the long endurance and the long flying range is achieved.

Description

technical field [0001] The invention belongs to the field of aircraft structure design, and relates to a control method for a detachable hybrid drive vertical take-off and landing unmanned aerial vehicle. Background technique [0002] A vertical take-off and landing aircraft refers to an aircraft that can take off and land at zero speed, has the ability to hover at a fixed point, and can fly horizontally in the manner of a fixed-wing aircraft. The birth background of the vertical take-off and landing technology of aircraft comes from the needs of war. On the battlefield, it is required that the aircraft can still take off and land even if the runway is destroyed, so the vertical take-off and landing technology of fixed-wing aircraft has been born. [0003] Compared with traditional fixed-wing aircraft, vertical take-off and landing aircraft has no dependence on runways and has the advantage of being able to hover. Compared with traditional helicopters or multi-rotor aircra...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the problems of complicated control structure and high requirements of the control system of the existing vertical take-off and landing UAV, the present invention provides a detachable hybrid-driven design scheme for the vertical take-off and landing UAV, and designs different parameters in the transition mode. deterministic robust control law

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