倾转四旋翼飞行器三维过渡走廊分析与过渡路径确立

Analysis of 3-D Conversion Corridor and Establishment of Transition Path for Tilting Quadcopter Aircraft

摘要:

在倾转过渡走廊内设计合适的旋翼倾转路径是倾转旋翼飞行器飞行动力学分析与飞行控制的关键环节之一。针对上述应用背景，建立倾转四旋翼飞行器飞行动力学模型，通过配平计算确定倾转四旋翼飞行器前飞速度-倾转角-加速度三维过渡走廊，分析不同加速度下过渡走廊边界的特点；定义涉及飞行姿态、总距与需用功率因素的综合性能指标，以最小化综合性能指标为目标，用A*算法搜索得到了倾转四旋翼飞行器最优过渡路径。结果表明：三维过渡走廊能够为倾转过渡提供更多信息，为过渡路径确定提供理论依据；A*算法优化了三维过渡路径搜索，有利于倾转过渡飞行安全稳定完成。

Abstract:

Designing a suitable rotor tilt path in the tilt transition corridor is one of the key steps in the flight dynamics analysis and flight control of tilt rotor aircraft. In response to the above application background,this article establishes a flight dynamics model of a tilting quadcopter aircraft, and determines the 3-D conversion corridor of the forward flight velocity tilt angle acceleration of the tilting quadcopter aircraft through triming calculations. The characteristics of the conversion corridor boundary under different accelerations are analyzed. Comprehensive performance indicators involving flight attitude, total distance, and required power factors have been defined. The A * algorithm was used to search for the optimal conversion path of a tiltrotor quadcopter aircraft with the goal of minimizing the overall performance indicators. The research results indicate that 3-D conversion corridor can provide more information for tilting conversion and provide theoretical basis for determining conversion paths; The A * algorithm optimizes the 3-D conversion path search, which is beneficial for the safe and stable completion of tilt transition flight.