随着现代航空技术的发展，对飞行器性能的要求不断提高，传统推进系统已逐渐接近材料和设计的极限。推力矩阵是一种全新的动力构型，可有效解决此困境。推力矩阵飞行器的动力系统是由数量众多的微型涡喷发动机或微型电动涵道风扇等动力单元组合而成，能够在三维空间内提供推力矢量，具有飞发控一体化和分布式推进的特点，取消了传统飞行器的舵面控制，通过动力单元提供三维推力来控制飞行器，飞行控制是其关键技术之一。因此开展推力矩阵的飞行控制研究意义重大。本文首先对推力矩阵飞行器的动力学特性进行了深入分析，建立了一套动力学模型模型来描述飞行器的动力行为和控制响应。依托于此模型，开发了一种分布式控制系统架构，该架构不仅涵盖了主控制器的设计，同时包括了多个动力单元控制器的协同工作机制，以实现对飞行器动态行为的精确调节。本文针对推力矩阵飞行器的控制需求，开发了一套低成本、高性能的推力矩阵飞行控制器的软硬件环境，包括了以MC9S12XEQ512为核心的主控制器，以MC9S12GA240为核心的子控制器。集成了多种传感器，实现了对飞行器位置和姿态的精确估计。并基于Freemaster调试软件开发了一套上位机测控系统，满足了推力矩阵飞行器的控制与数据监测需求。在控制算法方面，本文设计了基于PID控制和MPC控制的飞行控制策略。通过仿真和实验验证，证明了所设计控制算法的有效性，能够实现飞行器的稳定姿态控制。此外，本文还进行了飞行模态转换实验，验证了推力矩阵飞行器在不同飞行阶段的控制性能，为实现自主起降功能奠定了基础。本文最后对研究成果进行了总结，并对未来研究方向进行了展望。指出了推力矩阵飞行器控制技术研究的重要性，并提出了进一步研究的方向，包括提高控制精度、完善状态估计算法、提高续航能力等，以期为后续研究提供借鉴和启示。
With the advancement of modern aviation technology, the performance requirements for aircraft have continuously increased, pushing traditional propulsion systems towards the limits of materials and design. The thrust matrix is a novel power configuration that can effectively address this dilemma. The propulsion system of a thrust matrix aircraft consists of numerous miniature turbojets or micro electric ducted fans, which provide thrust vectoring in three-dimensional space. This system features integrated flight propulsion and distributed propulsion, eliminating traditional flight control surfaces. Instead, the aircraft is controlled by providing three-dimensional thrust through the power units, with flight control being one of its key technologies. Thus, research on thrust matrix flight control is of great significance.This paper first conducts an in-depth analysis of the dynamic characteristics of the thrust matrix aircraft, establishing a set of dynamic models to describe the aircraft‘s power behavior and control response. Based on this model, a distributed control system architecture has been developed. This architecture not only includes the design of the main controller but also encompasses the coordinated operation of multiple power unit controllers to precisely adjust the dynamic behavior of the aircraft. For the control requirements of the thrust matrix aircraft, a low-cost, high-performance flight control environment has been developed, featuring the MC9S12XEQ512 as the core of the main controller and the MC9S12GA240 as the core of the sub-controller. Integrated with various sensors, it achieves precise estimation of the aircraft‘s position and attitude. Furthermore, a PC-based measurement and control system was developed using Freemaster testing software to meet the control and data monitoring needs of the thrust matrix aircraft. In terms of control algorithms, this paper designed a flight control strategy based on PID and MPC. Through simulation and experimental validation, the effectiveness of the designed control algorithms has been proven, enabling stable attitude control of the aircraft. Additionally, flight mode transition experiments were conducted to verify the control performance of the thrust matrix aircraft during different flight phases, laying the groundwork for autonomous takeoff and landing capabilities. Finally, the paper concludes with a summary of the research findings and an outlook on future research directions. It highlights the importance of control technology research for thrust matrix aircraft and proposes further research directions, including improving control precision, enhancing state estimation algorithms, and extending endurance, to provide inspiration and reference for subsequent studies.
