论文部分内容阅读
本文研究推力矢量无人机尾坐式垂直起降的控制方法.为解决欧拉角奇异的问题,提出了水平/垂直欧拉角综合姿态解算方法.为了获得快速响应又防止超调,控制器采用线性/恒加速度逼近和角速率限幅积分逼近控制方法,并且在最终输出舵偏时进行了反扭矩补偿.此外,本文提出了一种特殊的数据融合算法,该算法通过迭代计算保证了高度数据的准确性.由于尾坐式起降时机体姿态和高度具有强耦合关系,本文设计了一种基于滤波前馈加速度算法的高度控制器.尾坐式起降试验结果验证了本文所述控制方法的有效性.
In order to solve the problem of Euler angle singularity, this paper presents a method of calculating the attitude of horizontal / vertical Euler angles in order to obtain a fast response and prevent overshoot, control The controller adopts linear / constant acceleration approximation and angular rate limiter integral approximation control method, and compensates for the reverse torque at the final output rudder bias.In addition, this paper presents a special data fusion algorithm, which is guaranteed by iterative calculation The accuracy of the height data.As a result of the strong coupling between body posture and height during the take-off and landing, a height controller based on the filter feedforward acceleration algorithm is designed in this paper.The tail- Control the effectiveness of the method.