发表机构
Aarhus University（奥胡斯大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种控制框架，利用双轴云台多旋翼模拟固定翼飞行动力学，通过动态反馈线性化实现高保真仿真，为训练与自主研究提供实用平台。
AI 中文摘要
本文提出了一种控制框架，使配备双轴云台的多旋翼能够模拟固定翼飞机的飞行动力学。其目标是提供一个操作简便的训练与仿真平台，避免固定翼飞行器的最小空速和非完整约束等空气动力学限制。利用动态反馈线性化推导出两种平台之间的状态-输入映射。该框架在代表性的固定翼机动中进行了评估。结果表明，在标称条件下具有高保真仿真能力。虽然评估在仿真环境中进行，但该方法为飞行员训练、自主研究和控制器基准测试的硬件部署建立了切实可行的路径。
英文摘要
This work presents a control framework that enables a multicopter equipped with a two-axis gimbal to emulate the flight dynamics of a fixed-wing aircraft. The goal is to provide an operationally simple platform for training and simulation that avoids the aerodynamic constraints of fixed-wing vehicles, such as minimum airspeed and nonholonomic constraints. A state-input mapping between the two platforms is derived using dynamic feedback linearization. The framework is evaluated on representative fixed-wing manoeuvres. Results show high-fidelity emulation under nominal conditions. While evaluations are conducted in simulation, the approach establishes a practical path toward hardware deployment for pilot training, autonomy research, and controller benchmarking.
Comments7 pages, 6 figures
