Research On Position And Attitude Control System Of Tandem Dual-Rotor Vector Aircraft Facing Wind Disturbance Environment

Due to its advantages of simple structure,light weight,good maneuverability,easy hovering and vertical takeoff & landing,the tilt dual-rotor aircraft has broad prospects for researches in various fields such as aerial photography,logistics transmission,environmental monitoring,forest fire prevention,and agricultural plant protection by carrying cameras,infrared sensors,pesticides and other loads.With a special configuration,the tilt-rotor aircraft combines the advantages of both the helicopter and the fixed wing.It utilizes the tilt engine nacelles installed on the wings to switch between the helicopter mode and the fixed wing mode.Compared with the traditional four-rotor aircraft,the dual-rotor aircraft has lighter rotors and increased battery capacity.As a result,it has a higher starting efficiency,less rotors,improved power efficiency,and longer endurance.Due to the characteristics of non-linearity,strong coupling,and susceptibility to disturbances of the aircraft,the tilt-rotor aircraft is extremely vulnerable to external disturbances when performing tasks outdoors,especially the disturbance of ambient wind,which affects its stable flight.The disturbances from wind field are taken into account when designing the controller,so as to improve the adaptability of the controller to the complex environment and thus improve the control performances of the aircraft.The tilt dual-rotor aircraft has various problems,such as poor stability,poor wind resistance,and susceptibility to disturbances from the external wind field.To meet the requirements for aircraft in resistance to wind disturbances and robustness,with the tilt dual-rotor aircraft as the controlled object,a dynamic model under the disturbances from the wind field is established.The Dryden turbulence wind field model is used to simulate the wind field,and the force analysis of aircraft is carried out in the wind field.The PID control and active disturbance rejection control(ADRC)strategy is adopted to improve the stability of the aircraft under disturbances from the wind field.Moreover,considering the large number of ADRC parameters difficult to set,a whale algorithm is designed for optimizing the ADRC parameters.However,because the whale algorithm only considers the optimal solution under the current state during the selection of the optimal solution,while failing to consider other suboptimal solutions,its results tend to fall into local optimum.To address this problem,the hierarchical system of Grey Wolf algorithm is introduced to select multiple historical optimal solutions to improve the ADRC parameter optimization strategy of the Whale algorithm,which effectively solves the difficulty of manual parameter setting,and realizes the position and attitude control and the flight trajectory tracking control of dual-rotor aircraft.Finally,in the wind field environment,both static obstacles and dynamic obstacles are set up,and the artificial potential field method is used for planning of the obstacle avoidance path.The optimal path is from the starting point to the end point.Furthermore,the artificial potential field method tends to fall into the minimum value and may involve unreachable targets,and the repulsive force field function is improved is address these problems,which can effectively solve the problems of unreachable targets and local minimum value in the flight path,so that the aircraft can smoothly reach the target point from the starting point.In order to verify the anti-wind performances of the aircraft control system designed under wind field disturbances,a simulation model was built on the Matlab/Simulink platform for simulation and comparison experiments.The simulation results show that the designed controller can not only effectively resist the disturbances from the simulated environmental wind,but also provide the stable tracking of the position,attitude and flight path.It is able to achieve obstacle avoidance in the wind field environment,and realize stable flight,which presents strong robustness.