升力翼多旋翼飞行器的操控品质指标及评估

doi:10.12305/j.issn.1001-506X.2026.04.24

摘要/Abstract

摘要：

针对电动垂直起降复合翼飞行器在全飞行阶段的操控品质评估问题，以升力翼多旋翼这一典型的复合翼飞行器为研究对象，分析各个飞行阶段的操控特性和适用的指标内容，通过仿真飞行测试对过渡阶段指标进行等级划分，为全面客观地评估升力翼多旋翼提供了定量参考依据。此外，基于针对升力翼多旋翼改进了任务科目基元（mission task element，MTE）飞行试验方法，并提出了操控品质评估的具体工作流程。通过半实物仿真飞行测试，初步验证了过渡阶段指标等级到试验要求的可转化性。

关键词: 升力翼多旋翼, 操控品质, 飞行阶段, 任务科目基元

Abstract:

Considering the challenges associated with handling quality （HQ） evaluation of electric vertical take-off and landing （eVTOL） hybrid vehicles throughout their full flight envelope, this paper focuses on a representative hybrid configuration, namely the lifting-wing quadcopter. The handling characteristics and relevant quality metrics applicable to each distinct flight phase are systematically analysed. Indicators specific to transition flight are quantitatively graded through simulated flight tests, providing a reliable basis for objective and comprehensive evaluation. Furthermore, modifications to the standard mission task element （MTE） flight test methodology are proposed to accommodate the unique operational attributes of lifting-wing quadcopters, along with a structured workflow for assessing HQs. Semi-physical simulation tests preliminarily validate the feasibility of translating graded indicator levels into practical test criteria during transition phases.

Key words: lifting-wing quadcopter, handling quality （HQ）, flight phase, mission task element （MTE）

中图分类号:

TP 391.9

王思怡, 王帅, 邹晗, 刘林锴, 闵晨, 曾煜昊, 全权. 升力翼多旋翼飞行器的操控品质指标及评估[J]. 系统工程与电子技术, 2026, 48(4): 1360-1369.

Siyi WANG, Shuai WANG, Han ZOU, Linkai LIU, Chen MIN, Yuhao ZENG, Quan QUAN. Handling quality indicators and evaluation of a lifting-wing quadcopter[J]. Systems Engineering and Electronics, 2026, 48(4): 1360-1369.

图/表 29

图1

表1

表2

图2

图3

图4

图5

图6

图7

图8

图9

表3

图10

表4

图11

表5

图12

表6

表7

表8

图13

图14

表9

表10

表11

图15

图16

表12

表13

参考文献 30

1	PADFIELD G D. Helicopter flight dynamics: including a treatment of tiltrotor aircraft[M]. 3rd ed. New Jersey: John Wiley & Sons Ltd, 2018.
2	MIL-F-8785C, Military specification, flying qualities of piloted airplanes [S]. USA: Department of Defense, 1980.
3	董庚寿, 蒋佩瑛. 飞机飞行品质规范的新进展—对美国MIL-F-8785C的评述[J]. 飞行力学, 1983 (1): 24- 35.
	DONG G S, JIANG P Y. New developments in aircraft flying quality specifications-a review of MIL-F-8785C[J]. Flight dynamics, 1983 (1): 24- 35.
4	MIL-STD-1797A. Department of defense interface standard, flying qualities of piloted aircraft [S]. USA: Department of Defense, 1990.
5	董庚寿, 韦克家. 飞机飞行品质规范的新进展—对MIL-STD-1797的初步分析[J]. 飞行力学, 2000, 18 (2): 10- 14. doi: 10.3969/j.issn.1002-0853.2000.02.003
	DONG G S, WEI K J. New developments in aircraft flying quality specifications-a preliminary analysis of MIL-STD-1797[J]. Flight Dynamics, 2000, 18 (2): 10- 14. doi: 10.3969/j.issn.1002-0853.2000.02.003
6	GJB 185-1986. 有人驾驶飞机(固定翼)飞行品质 [S]. 北京: 国防科学技术工业委员会, 1986.
	GJB 185-1986. Flying qualities of piloted airplanes (fixed wing) [S]. Beijing: Commission of Science, Technology and Industry for National Defence, 1986.
7	何志凯. 无人机飞行品质标准技术要素分析[J]. 标准科学, 2021 (11): 60- 66. doi: 10.3969/j.issn.1674-5698.2021.11.010
	HE Z K. Analysis of technical elements of UAV flight quality standard[J]. Standard Science, 2021 (11): 60- 66. doi: 10.3969/j.issn.1674-5698.2021.11.010
8	ADS-33E-PRF, Aeronautical design standard performance specification handling qualities requirements for military rotorcraft [S]. Alabama: United States Army Aviation and Missile Command Aviation Engineering Directorate Redstone Arsenal, 2000.
9	MALPICA C, WITHROW-MASER S. Handling qualities investigation of variable blade pitch and variable rotor speed controlled eVTOL quadrotor concepts for urban air mobility [C]// Proc. of the VFS International Powered Lift Conference, 2020.
10	BAHR M, MCKAY M, NIEMIEC R, et al. Handling qualities assessment of large variable-RPM multi-rotor aircraft for urban air mobility [C]// Proc. of the VFS International 76th Annual Forum & Technology Display, 2020.
11	WITHROW-MASER S, MALPICA C, NAGAMI K. Multirotor configuration trades informed by handling qualities for urban air mobility application [C]// Proc. of the VFS International 76th Annual Forum & Technology Display, 2020.
12	IVLER C M, RUSSELL M, GONG A, et al. Toward a UAS handling qualities specification: development of UAS-specific MTEs [C]// Proc. of the VFS International 78th Annual Forum & Technology Display, 2022.
13	THERON J P, HORN J F, WACHSPRESS D A, et al. Nonlinear dynamic inversion control for urban air mobility aircraft with distributed electric propulsion [C]// Proc. of the VFS International 76th Annual Forum & Technology Display, 2020.
14	ALTAMIRANO G, MATT J, FOSTER J, et al. Flying qualities analysis and piloted simulation testing of a lift+cruise vehicle with propulsion failures in hover and low-speed conditions [C]// Proc. of the VFS International Powered Lift Conference, 2023.
15	QUAN Q, WANG S, GAO W H. Lifting-wing quadcopter modeling and unified control[J]. Journal of Guidance, Control, and Dynamics, 2025, 48 (3): 689- 699.
16	HOCHSTENBACH M, NOTTEBOOM C, THEYS B, et al. Design and control of an unmanned aerial vehicle for autonomous parcel delivery with transition from vertical take-off to forward flight-VertiKUL, a quadcopter tailsitter[J]. International Journal of Micro Air Vehicles, 2015, 7 (4): 395- 405. doi: 10.1260/1756-8293.7.4.395
17	THEYS B, DE VOS G, DE SCHUTTER J. A control approach for transitioning VTOL UAVs with continuously varying transition angle and controlled by differential thrust [C]// Proc. of the International Conference on Unmanned Aircraft Systems, 2016.
18	ZHANG H T, SONG Z M, TAN S C, et al. Performance evaluation and design method of lifting-wing multicopters[J]. IEEE/ASME Trans. on Mechatronics, 2022, 27 (3): 1606- 1616. doi: 10.1109/TMECH.2021.3090667
19	XIAO K, MENG Y, DAI X H, et al. A lifting wing fixed on multirotor UAVs for long flight ranges [C]// Proc. of the International Conference on Unmanned Aircraft Systems, 2021.
20	ZALUDIN Z, GIRES E. Automatic flight control requirements for transition flight phases when converting long endurance fixed wing UAV to VTOL aircraft [C]// Proc. of the IEEE International Conference on Automatic Control and Intelligent Systems, 2019: 273−278.
21	ZALUDIN Z, MOHD HARITUDDIN A S. Challenges and trends of changing from hover to forward flight for a converted hybrid fixed wing VTOL UAS from automatic flight control system perspective [C]// Proc. of the IEEE 9th International Conference on System Engineering and Technology, 2019: 247−252.
22	HOLSTEN J, OSTERMANN T, MOORMANN D. Design and wind tunnel tests of a tiltwing UAV[J]. CEAS Aeronautical Journal, 2011, 2 (1): 69- 79. doi: 10.1007/s13272-011-0026-4
23	OSTERMANN T, HOLSTEN J, DOBREV Y. Control concept of a tiltwing UAV during low speed Manoeuvring [C]// Proc. of the 28th International Congress of the Aeronautical Sciences, 2012.
24	DICKESON J J, MIX D R, KOENIG J S, et al. H∞ hover-to-cruise conversion for a tilt-wing rotorcraft [C]// Proc. of the 44th IEEE Conference on Decision and Control, 2005: 6486−6491.
25	LOPEZ-BRIONES Y F, SANCHEZ-RIVERA L M, ARIAS-MONTANO A. Aerodynamic analysis for the mathematical model of a dual-system UAV// Proc. of the IEEE 17th International Conference on Electrical Engineering, Computing Science and Automatic Control, 2020.
26	CETINSOY E, DIKYAR S, HANCER C, et al. Design and construction of a novel quad tilt-wing UAV[J]. Mechatronics, 2012, 22 (6): 723- 745. doi: 10.1016/j.mechatronics.2012.03.003
27	HARPER R P, COOPER G E. Handling qualities and pilot evaluation[J]. Journal of Guidance, Control, and Dynamics, 1986, 9 (5): 515- 529.
28	王利东. 四旋翼飞行器操控品质评价研究 [D]. 北京: 北京航空航天大学, 2019.
	WANG L D. Research on handling quality assessments of quadcopters [D]. Beijing: Beihang University, 2019.
29	GJB 2874-1997. 电传操纵系统飞机的飞行品质 [S]. 北京: 国防科学技术工业委员会, 1997.
	GJB 2874-1997. Flying qualities standard for airplane with fly-by-wire control system [S]. Beijing: Commission of Science, Technology and Industry for National Defence, 1997.
30	QUAN Q, WANG S, DAI X H, et al. RflySim: a rapid multicopter development platform for education and research based on Pixhawk and MATLAB [C]// Proc. of the IEEE International Conference on Unmanned Aircraft Systems, 2021.

参数类型	参数名称	取值
结构参数	整机质量/kg	2.16
	惯性惯量/（kg·m²）	0.0512;0.0554;0.076
	电机安装角/（°）	0
	电机相对中心距离的x轴/m	0.25
	电机相对中心距离的y轴/m	0.2125
	升力翼安装角/（°）	34
	升力翼展长/m	0.94
	升力翼平均气动弦长/m	0.17
	升力翼机翼面积/m²	0.155
	升降副翼偏转角极限值/（°）	20
	升降副翼偏转角速度极限值/（rad·s⁻¹）	8.7266
控制参数	滚转通道角度误差反馈系数	4
	滚转角速度环离散PID参数	17.0;3.0;0.0;1.0
	俯仰通道角度误差反馈系数	4
	俯仰角速度环离散PID参数	20.0;3.0;0.0;1.0
	偏航角速度环离散PID参数	18.0;3.0;0.0;1.0
	$ \vdots $	$ \vdots $

控制通道	响应类型
俯仰	ACAH
滚转	ACAH
偏航	RCDH

组别	$ \left\|{\mathrm{\Delta }\mathrm{\beta }}_{\mathrm{pk}}/{\mathrm{\phi }}_{\mathrm{pk}}\right\| $	等级
1	0.317 3	1
2	0.368 5	1
3	0.372 9	1
4	0.687 9	1
5	0.789 2	1
6	0.984 6	2/3
7	0.923 9	2/3
8	1.110 5	2/3
9	1.327 0	2/3
10	2.181 5	2/3

等级	阻尼比	阻尼参数/（rad·s⁻¹）	自然频率/（rad·s⁻¹）
1	0.3	0.35	1.0
2	0.02	0.05	0.4
3	0	−	0.4

参考指标	良好	及格
开始减速到稳定悬停的时间限制/s	3	8
最后的悬停时间的最小值/s	20	20
与目标位置的水平距离的最大值/m	0.5	1
与目标位置的垂直距离的最大值/m	0.4	0.8
朝向偏离角度最大限制/（°）	5	10