基于模型失配的倾转旋翼垂直起降无人机INDI俯仰速率控制器的线性稳定性分析
Linear Stability Analysis of an INDI Pitch-Rate Controller under Model Mismatch for a Tilt-Rotor VTOL UAV
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中文总结 AI 辅助
研究基于模型失配的倾转旋翼垂直起降无人机INDI俯仰速率控制器线性稳定性，推导五阶传递函数，通过劳斯-赫尔维茨准则表征稳定性，提出两种不确定性感知调整程序，明确不同失配因素影响并给出调整建议。
中文摘要 AI 辅助
增量非线性动态逆（INDI）在无人机飞行控制中很有吸引力，因为它在保持强大抗干扰能力的同时减少了对完整空气动力学模型的依赖。然而，对于倾转旋翼垂直起降（VTOL）架构，快速内环的允许模型失配范围仍未以参数显式方式进行解析表征。本文分离了现有级联INDI控制器的俯仰速率/升降副翼子通道，并研究其在模型失配下的线性稳定性。推导了完整控制器-估计器-执行器-对象互连的闭式五阶传递函数，并通过劳斯-赫尔维茨准则在参数化线性模型上表征稳定性。提出了两种不确定性感知调整程序：一种是面向鲁棒性的设计，最大化增益裕度和相位裕度的加权最坏情况组合；另一种是面向性能的设计，在裕度约束下最大化最坏情况闭环带宽。结果表明，在标称增益下，执行器滞后和惯性失配相对良性，而控制有效性失配，特别是分配中的符号错误，是最危险的不稳定因素，为保守和激进操作条件提供了具体的调整建议。
英文摘要
Incremental Nonlinear Dynamic Inversion (INDI) is attractive for unmanned aerial vehicle (UAV) flight control because it reduces dependence on a full aerodynamic model while retaining strong disturbance-rejection capability. For a tilt-rotor vertical takeoff and landing (VTOL) architecture, however, the admissible model-mismatch range of the fast inner loop is still not characterized analytically in a parameter-explicit way. This paper isolates the pitch-rate/elevon subchannel of an existing cascaded INDI controller and studies its linear stability under model mismatch. A closed-form fifth-order transfer function is derived for the full controller-estimator-actuator-plant interconnection, and stability is characterized through the Routh-Hurwitz criterion over a parameterized linear model. Two representative three-parameter sweeps produce interpretable stability regions. Based on these feasibility maps, two uncertainty-aware tuning procedures are proposed: a robustness-oriented design that maximizes a weighted worst-case combination of gain margin and phase margin, and a performance-oriented design that maximizes worst-case closed-loop bandwidth subject to margin constraints. The results show that actuator lag and inertia mismatch are comparatively benign at nominal gain, whereas control-effectiveness mismatch, particularly a sign error in the allocation, is the most dangerous destabilizing factor, leading to concrete tuning recommendations for conservative and aggressive operating conditions.
