Design of Tilting Rotor Control System Based on Gain Scheduling Method

SONG Xiaodong; WU Bin; SANG Tao

doi:10.15892/j.cnki.djzdxb.2021.06.005

Journal of Projectiles, Rockets, Missiles and Guidance >

2021 , Vol. 41 >Issue 6: 23 - 28

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2021.06.005

Design of Tilting Rotor Control System Based on Gain Scheduling Method

SONG Xiaodong ,
WU Bin ,
SANG Tao

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School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China

Received date: 2019-11-18

Online published: 2025-02-07

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Abstract

Analyzing the dynamic model of the tilting four rotor, the gain scheduling controller is designed with tilting angle as the scheduling parameter, with pole allocation by MATLAB software at the equilibrium point, calculating to obtain the control parameters of each equilibrium point. Speed adaptive term is introduced to solve the error in linearization model. The error quaternion method is used as the input of the controller to avoid the ruler angle singular problem while the vertical take-off and landing. Experiments show that this method has better control effect.

Key words： UAV; flight control; gain scheduling; quaternion

Cite this article

SONG Xiaodong , WU Bin , SANG Tao . Design of Tilting Rotor Control System Based on Gain Scheduling Method[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2021 , 41(6) : 23 -28 . DOI: 10.15892/j.cnki.djzdxb.2021.06.005

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