Land-air amphibious vehicles (LAVs) have been increasingly used in complex scenes and tasks in recent years due to their multi-domain mobility. In this context, the attitude stability control of flight system in disturbance environment has become a common problem to be solved and improved, especially the relatively weak yaw channel. This paper focuses on the improvement of yaw capability under external wind disturbance from two aspects of configuration optimization and adaptive stability augmentation control. Firstly, the mechanism of yaw torque increasement is revealed for the four-rotor LAV and the general optimization method for such configuration is proposed. The yaw channel control bandwidth is greatly increased with minimal structural optimization cost. Secondly, on this basis, an adaptive stability augmentation controller with real-time predictor-compensator is designed for yaw channel, which provides further guarantee for yaw wind resistance and anti-saturation ability. Finally, the simulation of proposed comprehensive scheme and the real prototype tests under turbulent wind field provided by high-power fan are carried out. Results show that the yaw tracking error is greatly reduced by 74.17% under wind disturbance and the yaw control quantity and risk of control output saturation are significantly decreased.

中文翻译：

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提高偏航能力的陆空两栖车辆配置优化和自适应控制器设计


近年来，陆空两栖车辆（LAV）由于其多域机动性，越来越多地应用于复杂的场景和任务。在此背景下，飞行系统在扰动环境下的姿态稳定控制成为了普遍需要解决和改进的问题，特别是相对较弱的偏航通道。本文从配置优化和自适应增稳控制两个方面重点研究外风扰动下偏航能力的提高。首先，揭示了四旋翼轻型飞行器偏航扭矩增加的机理，并提出了这种配置的通用优化方法。以最小的结构优化成本极大地增加了偏航通道控制带宽。其次，在此基础上，针对偏航通道设计了带有实时预测补偿器的自适应增稳控制器，为偏航抗风能力和抗饱和能力提供了进一步的保障。最后，对所提出的综合方案进行了仿真，并在大功率风机提供的湍流风场下进行了真实样机试验。结果表明，在风扰动下，偏航跟踪误差大幅降低了74.17%，偏航控制量和控制输出饱和风险显着降低。