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针对无人动力翼伞稳定航速下的降高控制问题,提出一种基于可变增益的自适应反步控制策略。根据翼伞纵向模型推导了稳定航速下尾沿偏转反步控制律,并通过对增益参数的合理设计,消除了控制律中的复杂非线性项,避免了传统反步法中虚拟量的复杂导数问题,使控制器具有简单的参数可调节形式。利用模糊逻辑系统对可变增益参数进行在线调节,优化了控制器性能。将控制器应用于外部干扰条件下的动力翼伞降高控制中,结果表明控制器具有较小的稳态误差和较高的跟踪精度。
Aiming at the problem of descent control of unmanned wing at steady speed, a adaptive backstepping control strategy based on variable gain is proposed. According to the wing longitudinal model, the backstepping backstepping control law at steady speed is deduced. Through the rational design of the gain parameters, the complex nonlinearities in the control law are eliminated and the complex derivatives of the traditional backstepping method are avoided Problem that makes the controller have simple parameter adjustable form. Using fuzzy logic system to adjust the variable gain parameters online, the controller performance is optimized. The controller is applied to the control of the wing height of the wing under external disturbance. The results show that the controller has smaller steady-state error and higher tracking accuracy.