Abstract: For the Tail-sister VTOL UAV with vector electrical motor, some control problem in the process of the two kinks of state transition of vertical and level state are analyzed. The dynamic model is built based on its flight theory, and the model parameters are calculated, A fuzzy adaptive PID controller is developed for longitudinal attitude control of it. The proposed controller effectively implements longitudinal attitude and trajectory tracking control. Simulation results show that the proposed fuzzy logic controller provides quicker response, smaller overshoot, higher precision, better robustness, and better adaptive ability than traditional PID controller.

Key words: aircraft control, vector pull, Tail-sitter VTOL UAV, fuzzy adaptive PID

摘要： 针对使用矢量拉力控制纵向飞行姿态转换的坐式垂直起降固定翼无人机，分析其在垂直和水平飞行两种状态转换过程中存在的一些控制问题；建立了其动力模型，并对模型参数进行了整定。针对其在非线性条件下动态性能欠佳的问题，把容易实现、鲁棒性好的PID控制法与智能模糊控制算法结合，设计出自适应模糊PID控制器。并且模糊PID的超调小、动态响应快等特点在仿真和飞行实验中得到验证，使系统的抗干扰性得到提高。

关键词: 飞行器控制, 矢量拉力, 垂直起降, 自适应模糊PID