Research on the Flight Control Strategy of a New Concept Fuel-electric Hybrid Multi-rotor UAV

4th Annual International Workshop on Materials Science and Engineering

Xu, Xice^1 ; Kong, Da^2 ; Lu, Yang^1

National Key Laboratory of Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing

210016, China^1

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing

210016, China^2

关键词: Control characteristics;    Control redundancies;    Control strategies;    Flight control law;    Flight dynamics model;    Speed controller;    Theoretical simulation;    Vertical accelerations;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/381/1/012149/pdf
DOI  :  10.1088/1757-899X/381/1/012149

来源: IOP

【 摘 要 】

In order to solve the shortcomings of conventional electric multi-rotor UAVs, such as low load, short range and endurance, a new concept of fuel-electric hybrid multi-rotor UAV, in which the lift and attitude control are separated, is presented in this paper. Firstly, to comprehend the control characteristics of this UAV and also to design its flight control law, the flight dynamics model of this kind of UAV is established. Subsequently, considering the control redundancy in the height channel of the main rotors and the auxiliary rotors of UAV, a power switch control strategy based on vertical acceleration is proposed. Further, in view of the control characteristics of the aircraft, according to the backstepping -PID control method, the attitude and speed controller are designed. The numerical simulation and the flight test of the prototype are carried out respectively in order to verify the control strategy. Both theoretical simulation and flight test results show that the designed UAV controller can satisfy the desired control effect.