关键词: 自耦PID控制, 垂直起降飞行器, 非最小相位, 欠驱动系统, 坐标变换

Abstract: To solve the control problem of nonminimum phase underactuated vertical taking off and landing (VTOL) aircraft, an ACPID(autocoupling proportional integral differrential) control method is proposed. Firstly, coordinate transformation is used to map the center of mass of VTOL aircraft to Huygens vibration center, which can not only realize decoupling of control input of the new system, but also avoid zero dynamic instability of nonminimum phase VTOL aircraft. Then, Huygens vibration center is designed with ACPID controller in vertical and horizontal directions respectively, and the bottom thrust and the virtual instruction of roll attitude angle for VTOL aircraft are obtained respectively, and then the ACPID controller of the roll attitude angle is designed to form the roll torque, so as to realize the position tracking control of VTOL aircraft system. Finally, the robust stability and antidisturbance robustness of the closed loop control system are proved by the complex frequency domain analysis theory. Theoretical analysis and simulation results show the effectiveness of the proposed method, which has important scientific significance and wide application prospects in the field of nonminimum phase underactuated control system.

Key words: autocoupling PID control, vertical take off and landing aircraft, nonminimum phase, underactuated system, coordinate transformation