用于双旋翼尾座式垂直起降无人机的无倾斜盘升降副翼作动（SEA）
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
AI总结：
针对双旋翼尾座式VTOL无人机，论文提出无倾斜盘升降副翼作动SEA，通过电机调速控俯仰、升降副翼专控偏航，实验证明其抗扰、近地起飞及固定翼飞行表现优于CEA。
摘要：
本文提出了一种用于双旋翼尾座式垂直起降（VTOL）无人机（UAV）的新型无倾斜盘升降副翼作动（SEA）。传统升降副翼作动（CEA）利用升降副翼同时控制俯仰和偏航；与之不同，SEA采用无倾斜盘机构，通过电机转速调节产生额外力矩以控制俯仰，并仅将升降副翼用于控制偏航，且无需额外作动器。这种解耦控制策略缓解了大幅俯仰和偏航控制动作所需的升降副翼偏转饱和问题，从而提升了无人机在轨迹跟踪方面的控制性能，以及在存在强外部扰动时的抗扰性能。此外，SEA克服了CEA在无人机靠近地面时出现的作动性能退化问题，使起飞过程更加平稳、稳定。我们在多种真实飞行条件下验证并比较了SEA与CEA的性能，包括起飞、轨迹跟踪，以及外部扰动下的悬停飞行和位置阶跃。实验结果表明，SEA的性能优于CEA。此外，我们还验证了SEA在该VTOL无人机姿态过渡过程和固定翼模式飞行中的可行性。结果表明，SEA能够在高速来流存在时精确控制俯仰，并在固定翼模式飞行期间保持稳定姿态。所有实验的视频可参见 youtube.com/watch?v=Sx9Rk4Zf7sQ。
英文摘要：
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which controls both pitch and yaw using elevons, the SEA adopts swashplateless mechanisms to generate an extra moment through motor speed modulation to control pitch and uses elevons solely for controlling yaw, without requiring additional actuators. This decoupled control strategy mitigates the saturation of elevons' deflection needed for large pitch and yaw control actions, thus improving the UAV's control performance on trajectory tracking and disturbance rejection performance in the presence of large external disturbances. Furthermore, the SEA overcomes the actuation degradation issues experienced by the CEA when the UAV is in close proximity to the ground, leading to a smoother and more stable take-off process. We validate and compare the performances of the SEA and the CEA in various real-world flight conditions, including take-off, trajectory tracking, and hover flight and position steps under external disturbance. Experimental results demonstrate that the SEA has better performances than the CEA. Moreover, we verify the SEA's feasibility in the attitude transition process and fixed-wing-mode flight of the VTOL UAV. The results indicate that the SEA can accurately control pitch in the presence of high-speed incoming airflow and maintain a stable attitude during fixed-wing mode flight. Video of all experiments can be found in youtube.com/watch?v=Sx9Rk4Zf7sQ
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。
