针对倾转旋翼机过渡过程中操纵面冗余、通道耦合严重的问题, 对飞行器在过渡模式下的舵面分配策略以及控制通道切换策略进行了研究, 并开展基于自抗扰控制的姿态控制器设计。根据飞行控制的特点, 将自抗扰控制器的结构进行优化, 减少了扩张状态观测器的阶数, 采用跟踪微分器的微分输出作为姿态角速率指令, 简化了姿态控制器的结构。通过对无人倾转旋翼机全包线的飞行控制仿真, 验证了控制系统的有效性、舵面分配策略和通道切换策略的合理性。

To solve the problems of control surface redundancy and severe channel coupling of the tiltrotor aircraft in its transitioning process,we studied the rudder distribution strategy and the control channel switching strategy of the aircraft in the transition mode,and designed an attitude controller based on active disturbance rejection control.According to the characteristics of flight control,the structure of the active disturbance rejection controller was optimized,the order of the extended state observer was reduced,and the differential output of the tracking differentiator was used as the attitude angular rate instruction to simplify the structure of the attitude controller.Through the whole-envelope flight control simulation of the tiltrotor aircraft,the validity of the control system and the rationality of the rudder distribution strategy and the channel switching strategy are verified.