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以某小型无人机为研究对象,针对其在地面滑跑过程中出现偏离跑道的情况,给出了一种基于主轮差动刹车控制系统实现地面滑跑纠偏的方法。应用遗传算法对指定构型的差动刹车纠偏控制律参数进行了设计,为使滑跑控制器同时具有抗侧偏和抗测风的性能,适应度函数中包含了侧偏条件下控制器对于参考路径的逼近程度以及侧风扰动条件下直线滑跑的性能,并通过权重因子来调整两种情况的参考比例。在Matlab/Simulink平台上进行了仿真,仿真结果表明根据寻优结果设计的控制律能够对无人机地面滑跑有效地进行纠偏,并能够在持续侧风扰动条件下,保持无人机的偏航距和偏航角在安全的范围内。
Taking a small UAV as the research object, this paper presents a method to correct the ground slip based on the main wheel differential brake control system in view of its deviation from the runway during the ground running. Genetic algorithm is used to design the parameters of the control law of the differential brake correction in a given configuration. In order to make the sliding controller have the performance of anti-deflection and anti-wind measurement at the same time, the fitness function includes the controller under the side- The degree of approximation of the reference path and the performance of the straight-line run under the disturbance of crosswind, and the reference ratio of the two cases is adjusted by the weighting factor. The simulation results on Matlab / Simulink platform show that the control law designed based on the optimal results can effectively correct the UAV ground slip and maintain the UAV bias under the continuous crosswind disturbance Distance and yaw angle in the safe range.