升翼四旋翼建模与统一控制
Lifting-wing Quadcopter Modeling and Unified Control
AI总结：
本文提出了一种新型升翼四旋翼的建模与统一控制方法，通过统一控制器实现悬停与前进飞行的无缝过渡，并通过优化控制分配实现节能协同控制。
摘要：
混合无人飞行器（UAVs）集成了固定翼高效的前进飞行和多旋翼垂直起降（VTOL）的高效飞行能力。本文提出了新型混合微小型UAVs的建模、控制和仿真，称为升翼四旋翼。升翼的机架方向需要经常倾斜特定角度，通常在45度以内，既不是近90度也不是近0度。与一些转换机翼和尾坐UAVs相比，升翼四旋翼具有高度可靠的结构、强抗风能力、低巡航速度和可靠的过渡飞行，使其有潜力在完全自主的户外或某些受限空域室内工作。在建模部分，考虑了升翼和旋翼所产生的力和力矩。基于建立的模型，设计了一个用于整个飞行阶段的统一控制器。该控制器能够统一处理悬停和前进飞行，并根据速度命令实现两种模式之间的连续过渡。此外，通过同时考虑旋翼推力和空气动力学力，利用基于优化的控制分配来实现节能的协同控制。最后，进行了全面的硬件在环（HIL）仿真以验证设计飞机和所提控制器的优势。
英文摘要：
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
