基于预测器的六喷气无人飞行器时延控制
Predictor-Based Time Delay Control of A Hex-Jet Unmanned Aerial Vehicle
AI总结：
本文提出 Hex-Jet 涡轮喷气动力无人飞行器平台，融合推力矢量与差动推力简化姿态控制，并采用基于频域模型的预测器时延控制方法缓解涡轮喷气动态引起的滚转时延，飞行测试验证了其有效性。
摘要：
涡轮喷气动力的垂直起降无人飞行器在重载运输和应急服务领域受到越来越多的关注，因为与现有电推进系统相比，其具有更高的功率密度和推重比。喷气动力无人飞行器面临的主要挑战在于推力矢量机械系统的复杂性，该系统旨在缓解涡轮喷气发动机的慢动态特性。在本文中，我们介绍了一种名为 Hex-Jet 的新型涡轮喷气动力无人飞行器平台。我们的方案融合了推力矢量与差动推力，以实现全面的姿态控制。该方法显著简化了推力矢量机构。我们在 Hex-Jet 控制器设计中采用了一种基于频域模型的预测器时延控制方法，以缓解由涡轮喷气动态引起的滚转姿态控制时延。我们的对比研究为无人飞行器研究社区提供了有价值的见解，并且在缩比原型机上的飞行测试证明了所提出的基于预测器的时延控制技术的成功实现与验证。
英文摘要：
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.
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。
