Optimization method of transition trajectory for tail-sitter unmanned aerial vehicles
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摘要:
针对目前基于传统最优化方法得到的过渡轨迹在尾座式垂直起降无人机实际飞行过程中可行性低和鲁棒性差的问题，提出一种基于过渡走廊的过渡轨迹优化方法。以一种双发尾座式垂直起降无人机为研究对象，通过分析机翼不同区域之间的迎角差异，构建非线性动力学模型。基于倾转旋翼飞行器过渡走廊研究思路，设计一种针对尾座式垂直起降无人机的过渡走廊，并通过限制爬升速率和俯仰角速率来提高过渡走廊的可行性。通过分析模型误差对过渡走廊的影响，得到一条具有最大安全裕度的目标过渡轨迹。将过渡过程视为轨迹优化问题，求解得到最接近目标过渡轨迹且保留足够作动器裕度的最优过渡轨迹。仿真和实际飞行结果表明，所提方法能够引导飞机快速安全地完成过渡，避免出现高度增加过大、过渡时间过长及作动器饱和等不利情况。
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关键词:
- 尾座式垂直起降无人机 /
- 动力学模型 /
- 最优化方法 /
- 过渡走廊 /
- 过渡轨迹
Abstract:Most transition trajectories obtained by traditional optimization methods are not feasible in the actual flight process. Moreover, the robustness of these transition trajectories is poor due to not considering the retention of sufficient actuator margin. In order to solve this problem, a transition corridor-based transition method for tail-sitter unmanned aerial vehicle (UAV) is proposed. Considering a type of dual-rotor tail-sitter UAV, a nonlinear dynamic model is constructed by distinguishing the aerodynamic characteristics of the wing in the propeller airflow region from those outside the region. Inspired by the research on transition corridors for tilt-rotor aircraft, a transition corridor is designed. The feasibility of the transition corridor is improved by limiting the range of climb rate and pitch angle rate. A trajectory located inside the transition corridor with the maximum safety margin is chosen as the target transition trajectory by the optimization method. Then, the transition process of the tail-sitter UAV is regarded as a trajectory optimization problem. By solving the trajectory optimization problem, the optimal transition trajectory which is closest to the target transition trajectory and retains sufficient actuator margin is obtained. Finally, based on the designed transition control framework, hardware-in-the-loop simulation experiments and real flight tests are conducted. Simulation results are consistent with the real flight results, which prove that the designed transition method can guide the aircraft to complete the transition quickly and safely while retaining a certain actuator margin, avoiding such unfavorable conditions for the transition flight as excessive altitude increase, long transition time and actuator saturation.
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图 6 传统倾转旋翼机过渡走廊示意图
Figure 6. Schematic diagram of the transition corridor for a conventional tiltrotor
图 8 尾座式垂直起降无人机过渡走廊计算结果与实际飞行数据对比
Figure 8. Comparison of the calculation results of the tail-sitter vertical take-off and landing UAV transition corridor with the actual flight data
图 9 升力系数对前后向过渡走廊的影响
Figure 9. Effect of lift coefficient on the front and back transition corridors
图 10 俯仰力矩系数对前后向过渡走廊的影响
Figure 10. Effect of pitching moment coefficient on the front and back transition corridors
图 13 4种过渡方法在前向过渡硬件在环仿真时的表现
Figure 13. Performance of four different transition methods during front transition simulation
图 14 4种过渡方法在后向过渡硬件在环仿真时的表现
Figure 14. Performance of four different transition methods during back transition simulation
图 15 4种过渡方法的过渡轨迹在过渡走廊中的位置
Figure 15. Trajectories for four transition methods shown in the transition corridors
图 16 试飞中的尾座式垂直起降无人机
Figure 16. Photographs of the test tail-sitter vertical take-off and landing UAV in flight tests
图 17 4种过渡方法在前向过渡时的表现
Figure 17. Performance of four different transition methods during front transition
图 18 4种过渡方法在后向过渡时的表现
Figure 18. Performance of four different transition methods during back transition
图 19 4 种过渡方法的实际过渡轨迹在过渡走廊中的位置
Figure 19. Practical trajectories for four different transition methods shown in the transition corridor
表 1 Arkward尾座式飞机参数
Table 1. Parameters of Arkward tail-sitter vehicle
物理参数 数值 起飞质量/kg 0.93 翼展/m 0.89 机翼表面积/m2 0.13 螺旋桨桨盘半径/m 0.16 平均气动弦长/m 0.14 单个升降舵面积/m2 0.05 单个螺旋桨最大推力/N 6.90 升降舵最大偏转角度/(°) 30 螺旋桨最大推力变化速率/(N·s−1) 20 升降舵最大偏转速率/((°)·s−1) 110 
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表 2 轨迹优化问题的约束条件
Table 2. Constraints of trajectory optimization problems
约束对象 约束范围 螺旋桨转速ω/(r·min−1) [0, ωmax] 舵偏角δe/(°) [−δe,max, δe,max] 过渡开始时间t0/s [0, 0] 过渡结束时间tn/s [5, 5] 水平速度$ \dot{X}^{\mathrm{I}}(t)$/(m·s−1) [0, 20] 垂直速度$ \dot{Z}^{\mathrm{I}}(t)$/(m·s−1) [−1, 1]
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表 3 4种过渡方法的过渡指标对比
Table 3. Comparison of transition indicators for four transition methods
过渡阶段 过渡方法
${t_{{\text{trans}}}}/{\text{s}}$
$\Delta {h_{\max }}/{{\mathrm{m}}} $
${T_{\max }}/\% $
${\delta _{\max }}/\% $硬件在环仿真 实际飞行 硬件在环仿真 实际飞行 硬件在环仿真 实际飞行 硬件在环仿真 实际飞行 前向过渡 PX4原生固件中的过渡方法 2.15 1.80 7.60 7.21 85.7 96.4 99.8 93.4 文献[14]过渡方法 3.31 3.31 1.63 1.33 80.2 82.1 29.1 13.6 文献[15]过渡方法 3.09 2.46 3.87 3.38 82.6 84.2 32.6 14.5 本文过渡方法 2.88 3.18 3.93 4.09 83.9 87.1 46.7 15.0 后向过渡 PX4原生固件中的过渡方法 3.51 5.08 7.51 13.80 78.3 97.1 48.9 66.7 文献[14]过渡方法 0.80 1.32 2.13 2.19 99.6 99.8 99.8 99.7 文献[15]过渡方法 1.29 2.57 2.69 4.04 84.5 92.8 87.1 60.3 本文过渡方法 1.81 2.96 2.71 5.01 82.1 91.1 83.6 65.9
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