倾转旋翼无人机最优过渡倾转角曲线

A dynamic model of a typical tri-tiltrotor UAV was established. The optimal tilt angle curve in the transition process was studied to reduce the influence of lateral coupling on longitudinal motion, and energy consumption. Based on the analysis of the influence of the tilt angle curve on the transition process, a improved motion profile algorithm was proposed to parameterize the tilt angle curve. A two-phase optimization scheme was proposed to optimize parameters. In the first phase, the minimum coupling degree of lateral control and the minimum energy consumption of the transition process are considered. The optimal tilt angle problem model was constructed by using the curve parameters as the optimization variables.The optimal tilt angle problem was solved by genetic algorithm. In the second phase, a servo dynamics model was introduced for further optimization to reduce the overshoot in the end-stage considering transition time and system overshoot. The results of comparison with the three existing typical tilt angle curves show that, in given transition time, the proposed optimal tilt angle curve effectively reduces the lateral control coupling degree and the energy consumption during the transition process, and reduces the overshoot at the end of the transition.