涵道无人飞行器建模与线性鲁棒控制.pdf

中国科技论文在线

涵道无人飞行器建模与线性鲁棒控制#
侯庆明，郑义，赵杰，金弘哲**
（哈尔滨工业大学机电工程学院，哈尔滨 150080）
5 摘要：本文介绍了一种基于马格努斯效应控制舵的涵道飞行器模型。模型所使用的控制舵包
含了四个对称安装在飞行器尾部的回转轮。回转轮表面与涵道风扇喷射气流之间的相互作用
产生了与回转轮转速成正比的气动升力，这样可以保证气动升力有足够宽的变化范围。最后，
通过数值仿真，验证了整体飞行动力学模型及其控制方法的有效性。
10 关键词：涵道风扇；飞行器；马格努斯效应；飞行动力学；解耦控制
中图分类号：

Modeling and Linear Robust Control for a Ducted Fan UAV
Hou Qingming, Zheng Yi, Zhao Jie, Jin Hongzhe
15 (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080)
Abstract: A ducted fan aerial vehicle model using Magnus effect steering engine is proposed in
this article. This model utilizes a steering engine that comprises four cylinders that are
symmetrically installed at the aft inside the duct. Interaction between the spinning cylinder surface
and the duct jet flow causes the aerodynamic lift proportional to angular velocity of the cylinder.
20 Therefore, operating aerodynamic lift range is guaranteed to be sufficiently wide. The efficiency
of the proposed