﻿ 基于PX4的复合式VTOL无人机总能量控制系统的研究

# 基于PX4的复合式VTOL无人机总能量控制系统的研究Research on the Total Energy Control System of Composite VTOL UAV Based on Px4

Abstract: Based on Px4 flight control system, this paper introduces total energy control into the control system of VTOL UAV, aiming at the coupling problem of altitude/velocity in fixed wing mode. The core algorithm of total energy control is deduced, and the total energy control module is de-signed according to Px4 flight control code habit, and the hardware in the loop simulation by the gazebo simulation software verifies that the total energy control module has a good effect on the decoupling of the speed control and height control of the compound VTOL UAV.

1. 引言

2. 总能量控制算法在复合式VTOL上的应用

2.1. 总能量控制核心算法

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Figure 1. Core algorithm of TECS

2.2. 总能量控制核心算法在PX4控制系统上的实现

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Figure 2. Height control structure diagram of external circuit of TECS

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Figure 3. Speed control structure diagram of external circuit of TECS

Figure 4. Overall flow chart of composite VTOL total energy control

3. PX4下复合式VTOL无人机总能量控制模块设计

1) 外回路将获得的参数进行解算并为内回路提供系统输入，头文件如下；

2) 油门控制

Figure 5. Total energy throttle control

4. 俯仰控制

Figure 6. Flow chart of total energy pitch control

5. 仿真结果

Gazebo仿真环境支持PX4的硬件在环仿真，在Gazebo软件内加载地图信息和Standard_vtol仿真模型选择复合式VTOL无人机如图8所示。

Figure 7. Work flow of total energy control module

Figure 8. Gazebo model

Figure 9. Track map

Figure 10. Speed curve

Figure 11. Height curve

6. 总结

[1] 姜亚中, 王立峰. 基于PX4的双系统复合式垂直起降无人机过渡态控制算法改进研究[J].动力系统与控制, 2018, 7(3): 245-252.

[2] Lambregts, A.A. (1983) Vertical Flight Path and Speed Control Autopilot Design Using Total Energy Principles. AIAA Paper.

[3] Faleiro, L.F. and Lambregts, A.A. (1999) Analysis and Tuning of a “Total Energy Control System” Control Law Using Eigen Structure Assignment. Aerospace Science and Technology, 3, 127-140. https://doi.org/10.1016/S1270-9638(99)80037-6

[4] 张庆振, 安锦文, 刘小刚. 基于飞机总能量控制系统(TECS)的飞行航迹/速度解耦控制方法研究[J]. 西北工业大学学报, 2004, 22(3): 384 -387.

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