电光与控制, 2014, 21 (12): 81, 网络出版: 2014-12-15
小型尾坐式飞行器大机动飞行姿态算法研究
On Attitude Algorithm for High Maneuvering of Small Tail-Sitter Aircraft
摘要
小型尾坐式飞行器大机动飞行时, 姿态角变化范围大, 传统四元数到欧拉角转换算法无法求解其全部姿态。对传统算法进行了改进和完善, 提出一种全角度转换算法, 该算法适用的欧拉角范围为(-180°,+180°)。采用该算法, 克服了传统算法有扰动时在转换边界极易产生振荡的缺陷, 同时保证了姿态变化的连续性, 符合控制利益。仿真结果表明所提算法可行。
Abstract
When small tail-sitter aircraft makes a high maneuvering flight,its attitude will change greatly.The traditional transformation algorithms from quaternion to Euler angle cant calculate out all its attitude angles.Thus we made some improvements to the traditional algorithms,and proposed an all-attitude conversion algorithm adaptable for Euler angle from -180° to 180°.This algorithm avoids the concussion of traditional algorithms at transform boundary under disturbance,and can ensure the continuity of attitude changing.Simulation result indicates that the proposed algorithm is feasible.
武斌, 陈鹏, 胡永江, 王长龙. 小型尾坐式飞行器大机动飞行姿态算法研究[J]. 电光与控制, 2014, 21(12): 81. WU Bin, CHEN Peng, HU Yong-jiang, WANG Chang-long. On Attitude Algorithm for High Maneuvering of Small Tail-Sitter Aircraft[J]. Electronics Optics & Control, 2014, 21(12): 81.