发表机构
University of Zagreb（萨格勒布大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出变体无人机MetaMorpher的悬停控制策略，比较电机与襟翼推进，仿真和实验验证了模型的稳定性和有效性。
AI 中文摘要
本文介绍了MetaMorpher的设计与控制策略，这是一种变体无人机（UAV），能够进行旋翼式悬停和固定翼巡航飞行。由于巡航配置的控制在文献中相对成熟，本文重点研究MetaMorpher在悬停模式下的控制，基于先前工作中验证的飞行动力学模型和概念设计。控制算法采用两种相位同步策略之一实现：电机推进，即电机推力与飞行器旋转同步脉冲；或襟翼推进，一种新颖的策略，即脉冲翼装升降副翼的偏转。我们通过不同的飞行实验在仿真中评估了这两种策略。仿真结果证实了数学模型，并显示出稳定的参考跟踪，证明襟翼推进是悬停控制的轻量级、解耦替代方案。实验测试验证了垂直动力学推进模型与物理原型的一致性，在不同配置下表现出非常好的稳态一致性。
英文摘要
This paper presents the design and control strategy for MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV), capable of both spinning-wing hover and fixed flying-wing cruise flight. Since control of the cruise configuration is comparatively well established in the literature, this paper focuses on control of the MetaMorpher in hover mode, building on the flight dynamics model and conceptual design validated in previous work. The control algorithm is implemented using one of two phase-synchronized strategies: motor propulsion, which pulses motor thrust in synchrony with the vehicle's rotation, or flap propulsion, a novel strategy that pulses the deflection of the wing-mounted elevons. We evaluate both strategies in simulation through different flight experiments. Simulation results confirm the mathematical model and show stable reference tracking, demonstrating flap propulsion as a lightweight, decoupled alternative for hover control. Experimental testing validated the vertical-dynamics propulsion model against the physical prototype, demonstrating very good steady-state agreement across different configurations.
Comments8 pages, 12 figures
