Modelling And Control Allocation Of A New VTOL Configuration

In this paper, a new tandem wing distributed propulsion vertical takeoff and landing configuration is investigated, and the modeling and control assignment of this new configuration is described. Six-degree-of-freedom full-state dynamics modeling and simulation modeling are completed first. A suitable attitude representation is chosen and the analysis starts with the flight characteristics of the tandem-wing vehicle. Based on the flight principle and its force and moment generation mechanism, the dynamics and kinematic equations were studied, and a nonlinear mathematical model was constructed using a suitable method, which laid the foundation for the subsequent control system design verification. Then, on the basis of the constructed model, the derivation of the control efficiency matrix and the study of the control allocation method were completed. The study of control allocation includes the linearization of control actuators, the design of control allocators for transition states and the study and comparative analysis of three allocation strategies: pseudo-inverse, weighted pseudo-inverse and direct allocation methods.