[1]王航辉,周景亮,邹诚,等.电动单涵道无人飞行器的建模与控制[J].福建理工大学学报,2025,23(04):395-306.[doi:10.3969/j.issn.2097-3853.2025.04.013]
　WANG Hanghui,ZHOU Jingliang,ZOU Cheng,et al.Modeling and control of electric single ducted fan unmanned aerial vehicle[J].Journal of Fujian University of Technology;,2025,23(04):395-306.[doi:10.3969/j.issn.2097-3853.2025.04.013]
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电动单涵道无人飞行器的建模与控制()
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《福建理工大学学报》[ISSN:2097-3853/CN:35-1351/Z]

卷:
第23卷
期数:
2025年04期
页码:
395-306
栏目:
出版日期:
2025-08-25

文章信息/Info

Title:
Modeling and control of electric single ducted fan unmanned aerial vehicle
作者:
王航辉; 周景亮; 邹诚; 周梦欣
福建理工大学机械与汽车工程学院
Author(s):
WANG Hanghui;  ZHOU Jingliang;  ZOU Cheng;  ZHOU Mengxin
School of Mechanical and Automotive Engineering, Fujian University of Technology
关键词:
无人飞行器; 单涵道; 垂直起降; MPC; 位置控制
Keywords:
unmanned aerial vehicle;  single-ducted-fan; vertical takeoff and landing; MPC; position control
分类号:
TP242.6
DOI:
10.3969/j.issn.2097-3853.2025.04.013
文献标志码:
A
摘要:
设计了一种电动单涵道垂直起降的飞行器,该飞行器融合了固定翼和多旋翼优点,具有垂直起降效率高和动态响应快的特点。针对参考信号与系统输出误差初始值较大产生的超调和震荡问题,提出一种基于模型预测控制(MPC)的三维位置控制器。与比例积分微分(PID) 控制器相比,该控制器展现出更快的响应速度和更高的收敛精度。通过MATLAB / Simulink 和Flightgear 联合仿真实现了可视化控制验证,仿真结果证明了控制的有效性。最终通过户外飞行实验验证了设计方案的合理性及控制系统的稳定性。
Abstract:
A novel electric single-ducted-fan vertical takeoff and landing (VTOL) aircraft is modeled, integrating the advantages of both fixed-wing and multirotor configurations. The proposed aircraft features high vertical takeoff and landing efficiency and fast dynamic response. To address the overshoot and oscillation issues caused by large initial errors between the reference signal and system output, a model predictive control (MPC)-based three-dimensional position controller is proposed. Compared with the conventional proportional-integral-derivative (PID) controller, the MPC controller exhibits faster response speed and higher convergence accuracy. A visualized control validation is conducted through MATLAB/Simulink and FlightGear co-simulation, with simulation results confirming the effectiveness of the proposed control strategy. Finally, outdoor flight experiments validate the feasibility of the design and the stability of the control system.

参考文献/References:

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更新日期/Last Update: 2025-08-25