电动单涵道无人飞行器的建模与控制

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中图分类号：TP242.6 文献标志码：A 文章编号：2097-3853（2025）04-0395-07

Modeling and control of electric single ducted fan unmanned aerial vehicle

WANG Hanghui1，2， ZHOU Jingliang¹， ZOU Cheng1，²， ZHOU Mengxin 1，2 （2 （1.School of Mechanical and Automotive Engineering，Fujian University of Technology，Fuzhou 350l18，China; 2.Fujian Key Laboratory of Intelligent Machining Technology and Equipment，Fuzhou 35O118，China）

Abstract：A novel electric single-ducted-fan vertical takeoff and landing （VTOL）aircraft is modeled， integrating the advantages of both fixed-wing and multirotor configurations. The proposed aircraft features high vertical takeoff and landing eficiency and fast dynamic response.To address the overshoot and oscilation issues caused by large initial errors between the reference signal and system output，a model predictive control （MPC）-based three-dimensional position controller is proposed.Compared with the conventional proportionalintegral-derivative（PID）controller，the MPC controller exhibits faster response speed and higher convergence accuracy.A visualized control validation is conducted through MATLAB/Simulink and FlightGear cosimulation，with simulation results confirming the effectiveness of the proposed control strategy.Finaly， outdoor flight experiments validate the feasibility of the design and the stability of the control system.

Keywords：unmanned aerial vehicle；single-ducted-fan;vertical takeoff and landing; MPC ; position control

随着技术进步，各类新型飞行器相继问世，单涵道垂直起降飞行器凭借其独特构型备受关注。（剩余7436字）