用预测延迟控制解决喷气式无人机姿态响应慢的问题
Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle
- 通过预测型时延控制补偿喷气发动机动态延迟
- 飞行测试验证了该方法在缩比原型机上的有效性
- 适合研究喷气式无人机控制的工程师与研究人员
喷气动力垂直起降无人机因功率密度和推重比优于现有电推进系统，日益受到重型运输与应急服务领域的关注。其主要挑战在于复杂的推力矢量机械系统，旨在缓解喷气发动机动态响应缓慢的问题。本文提出一种新型喷气动力无人机平台Hex-Jet，将推力矢量与差动推力结合实现全方位姿态控制，显著简化了推力矢量机构。控制器设计采用基于频域模型的预测型时延控制方法，有效缓解了滚转姿态控制中由喷气动力特性引起的延迟问题。对比研究为无人机领域提供了宝贵洞见，缩比原型机的飞行测试成功实现了并验证了所提控制技术。
原文摘要 · Abstract (English)
Turbojet-powered VTOL UAVs have garnered increased attention in heavy-load transport and emergency services, due to their superior power density and thrust-to-weight ratio compared to existing electronic propulsion systems. The main challenge with jet-powered UAVs lies in the complexity of thrust vectoring mechanical systems, which aim to mitigate the slow dynamics of the turbojet. In this letter, we introduce a novel turbojet-powered UAV platform named Hex-Jet. Our concept integrates thrust vectoring and differential thrust for comprehensive attitude control. This approach notably simplifies the thrust vectoring mechanism. We utilize a predictor-based time delay control method based on the frequency domain model in our Hex-Jet controller design to mitigate the delay in roll attitude control caused by turbojet dynamics. Our comparative studies provide valuable insights for the UAV community, and flight tests on the scaled prototype demonstrate the successful implementation and verification of the proposed predictor-based time delay control technique.
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