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

Abstract

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）

CLC Number:

TP 391.9

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.

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References 30

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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

Handling quality indicators and evaluation of a lifting-wing quadcopter

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References 30

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组别	$ \Delta {\theta }_{\mathrm{min}} $/（°）	$ {{q}_{\mathrm{pk}}}/{\Delta {\theta }_{\mathrm{pk}}} $/ s⁻¹
1	11.53	3.175
2	14.72	3.510
3	25.02	2.205
4	26.89	2.037
5	27.21	2.068

组别	$ \Delta {\phi }_{\mathrm{min}} $/（°）	$\dfrac{{p}_{\mathrm{pk}}}{\Delta {\phi }_{\mathrm{pk}}} $/ s⁻¹
1	10.28	2.502
2	14.26	3.274
3	21.24	2.410
4	22.59	2.233
5	24.52	2.522

组别	1	2	3	4	5
$\left\|{\mathrm{\Delta }\mathrm{\beta }}_{\mathrm{{p}{k}}}/{\mathrm{\phi }}_{\mathrm{{p}{k}}}\right\| $	0.374	0.358	0.361	0.370	0.349

操控员	操控技能水平	主要操控经验
A	熟练掌握起飞，巡航和定点降落等飞行技能	固定翼，直升机
B	熟练掌握起飞，巡航，部分特技飞行和定点降落等飞行技能	固定翼，多旋翼
C	熟练掌握起飞，巡航，部分特技飞行和定点降落等飞行技能	多旋翼

试验	是否可操纵	在许可负担下能否达到合适性能	如果不加改进是否满意	认定等级
加速和减速	√	√	√	1
盘旋试验	√	√	√	1

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参考指标	良好	及格
到达指定速度（18 m/s）的时间限制/s	8	10
高度偏离最大限制/m	10	20
减速至稳定悬停的时间限制/s	10	15
朝向偏离角度最大限制/（°）	10	15
跑道水平偏离最大限制/m	4	8

参考指标	良好	及格
与初始位置水平偏离最大限制/m	2	4
高度偏离最大限制/m	1	2
最终朝向偏离初始朝向最大限制/（°）	5	10
完成试验的时间限制/s	5	10

参考指标	良好	及格
高度偏离最大限制/m	20	30
侧滑角最大限制/（°）	15	15
15 m/s完成试验的时间限制/s	12	15