| The Rotated wing aircraft is a new type of aircraft,which can be selected in a variety of flight modes.The helicopter model can achieve vertical takeoff and landing,the airplane mode can achieve long distance flight,so it has a very important practical value.However,due to the characteristics of both helicopters and airplane,the Rotated wing aircraft becomes a very complex multiple input and multiple output system(MIMO),which makes the modeling of the Rotated wing aircraft complex and difficult to control.Especially during the transition process of the Rotated wing aircraft,the characteristics of strong coupling,nonlinear and time-varying are more prominent.Therefore,the stability control of the transition process of the Rotated wing aircraft is the key and difficult point to realize the longitudinal control.In this paper,the longitudinal motion control of the Rotated wing aircraft is mainly studied.The thesis is organized as follows:Firstly,The aerodynamics model of the various parts of the Rotated wing aircraft is founded respectively.The nonlinear dynamics and kinematics equations of the Rotated wing aircraft used for simulation are established.Under certain assumptions,the six degree of freedom nonlinear model of the Rotated wing aircraft is simplified to a longitudinal nonlinear simulation model,which provides conditions for subsequent longitudinal control of the Rotated wing aircraft.Sceondly,Model free adaptive control(MFAC)is a data driven control algorithm,which can achieve good control of nonlinear,strong coupling,time-varying and other characteristic systems.The IMFAC is improved by the basic MFAC,which can directly control the non-self-balancing system.In this paper,In order to avoid the cumbersome parameter tuning and human error caused by inaccurate parameter setting,the genetic simplex optimization algorithm is introduced to further improve the IMFAC to get a better GASM-IMFAC control algorithm.GASM-IMFAC combines the data driven and intelligence optimization algorithm has the advantages of good parameter self tuning,strong robustness,good processing ability of nonlinear time-varying systems.GASM-IMFAC is compared with the common control algorithms GASM-PID and GASM-LQR on the typical nonlinear coupled Quad-rotor attitude control,which proves the feasibility and superiority of the GASM-IMFAC control method.Thirdly,The control characteristics of the various modes of the Rotated wing aircraft are analyzed,and the GASM-IMFAC control method is used to design the controller of the helicopter model and the transition process.In the MATLAB environment,a simulation study of the possible gust interference during the transition process is carried out.The simulation results show that the Rotated wing aircraft can still achieve a stable and safe mode conversion in the presence of gust disturbance,and the controller has good robustness.Finally,In order to make the transformation process of the Rotated wing aircraft display more directly and clearly,a virtual simulation environment was built by calling MATLAB and Flight Gear together,and the longitudinal flight of the Rotated wing aircraft was simulated in full digital. |
