基于增量动态逆的倾转旋翼飞行器飞行控制律设计

A flight control law of tilt-rotor aircraft based on incremental nonlinear dynamic inversion (INDI) is designed for the high precision and poor robustness of nonlinear dynamic inversion (NDI) control law. The incremental dynamic inversion control law is derived based on the dynamic model of tilt-rotor aircraft. In view of the redundancy of tilt-rotor aircraft, the control allocation algorithm of rudder surface is introduced based on the incremental dynamic inversion algorithm. A real-time solution to control the efficiency B-matrix is proposed, and a full-mode control law which can reduce the dependence on accurate mathematical model is designed. The effectiveness of the proposed algorithm for tilt-rotor aircraft is verified by simulation.