The Stopped-Rotor(SR)UAV combines the advantages of vertical take-off and landing of helicopter and high-speed cruise of fixed-wing aircraft.At the same time,it also has a unique aerodynamic layout,which leads to great differences in the control and aerodynamic characteristics of various flight modes,and brings great challenges to the flight dynamics modelling and control in full-mode flight.In this paper,the flight dynamics modelling and control method of SR UAV in full-mode flight is studied.First,based on the typical flight profile of SR UAV when performing missions,using the theory and method of fuzzy mathematics,the T-S flight dynamics model of SR UAV in full-mode flight is established by synthesizing the flight dynamics model of each flight mode.Then,an explicit model tracking and parameter adjusting control system based on fuzzy the-ory is designed to enhance the stability of the inner loop of SR UAV in full-mode flight,which effec-tively reduces the coupling between axes and improves the control quality of the system.Finally,the outer loop control system is designed by using classical control method,and the control law of SR UAV in full-mode automatic flight is obtained.The simulation results show that the proposed con-trol system design method is feasible and effective,which lays a solid foundation for the subsequent engineering implementation of the SR UAV.

Ao HE;Honggang GAO;Shanshan ZHANG;Zhenghong GAO;Bodi MA;Lulu CHEN;Wei DAI

School of Aeronautics,Northwestern Polytechnical University,Xi'an 710072,China;School of Civil Aviation,Northwestern Polytechnical University,Xi'an 710072,China

中国航空学报（英文版）

[1]Ao HE;Honggang GAO;Shanshan ZHANG;Zhenghong GAO;Bodi MA;Lulu CHEN;Wei DAI-.Full mode flight dynamics modelling and control of stopped-rotor UAV)[J].中国航空学报（英文版）,2022(10):95-105

Stopped

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