论文部分内容阅读
为了提高无人机的机动性,同时保证其航迹的精确性,针对无人机纵向运动模型,采用非线性动态解耦Singh算法设计直接力控制器,并对某一型号的无人机模型进行了纯直接力模式的计算机仿真。结果显示无人机的速度、迎角、俯仰角以及航迹角输出均能按照预期的目标渐进跟踪控制指令,并且具有很好的动态响应。仿真实验表明基于Singh算法的直接力控制器能解除无人机在飞行过程中某些模态运动之间的交叉耦合,并能精确实现纯直接力、俯仰指向等3种模式的直接升力控制。
In order to improve the maneuverability of UAVs and ensure the accuracy of their tracks, aiming at the longitudinal motion model of UAVs, the direct force controller is designed by using the nonlinear dynamic decoupling Singh algorithm, and a UAV model The pure direct force mode computer simulation was carried out. The results show that the UAV’s speed, angle-of-attack, pitch angle and track angle output can all gradually follow the control instructions as expected and have good dynamic response. The simulation results show that the direct force controller based on Singh algorithm can cancel the cross coupling between some modal movements of UAV during flight and can accurately control the direct lift force of the three modes such as pure direct force and pitch direction.