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飞翼布局无人机(UAV)由于缺少垂直尾翼的安定作用,航向通道不稳定或具有弱稳定性,侧风条件下容易引起侧滑,影响航迹跟踪精度。针对一种没有安装侧滑角传感器的小型飞翼无人机,根据惯性器件测量数据和无人机气动参数,使用扩展Kalman滤波方法估计无人机的侧滑角大小并控制消除侧滑。在抑制侧滑的条件下,推导建立了无人机航迹跟踪侧向运动的非线性模型,利用反馈线性化方法,将运动模型转化为带有扰动的线性模型,进而引入虚拟控制变量,使用保性能H∞鲁棒控制器设计方法,优化得到航迹跟踪反馈控制参数。仿真结果表明:该方法能够估计并有效抑制侧风条件下飞翼无人机侧滑等干扰,实现航迹的精确跟踪。
Flying wing layout Unmanned aerial vehicle (UAV) due to the lack of stability of the vertical tail, the heading of the channel is unstable or weak stability, easy to cause side-slip under the condition of side-track, affecting track accuracy. For a small flying UAV without a side slip angle sensor, based on the measured data of inertial devices and the aerodynamic parameters of the UAS, the extended Kalman filter method is used to estimate the size of the UAS and control the elimination of skidding. Under the condition of suppressing the side slip, a nonlinear model of the lateral motion of the UAV trajectory tracking is deduced. The feedback linearization method is used to convert the motion model into a linear model with disturbance, and then the virtual control variable is introduced to use Guaranteed performance H∞ robust controller design method, optimization of the trajectory tracking feedback control parameters. The simulation results show that this method can estimate and effectively restrain the sidewing and other interferences of flying wing UAV under crosswind conditions and achieve accurate tracking of the track.