论文部分内容阅读
为实现飞翼无人机的机动飞行,以带有流体矢量方向舵的飞翼无人机为设计对象,采用非线性设计方法设计了控制器,并进行飞行验证.针对飞翼无人机的机动飞行控制存在各种耦合和扰动的特点,设计内环线性化解耦以消除已知不利的耦合项,外环反步跟踪方法进行航迹跟踪的控制律结构,证明了该控制结构的稳定性.同传统反步控制方法相比,该控制器增加了内环解耦结构,并在控制结构中保留气动阻尼项,使得线性化后的系统为弱非线性系统.该结构不仅可以降低外环控制器设计的保守性,而且便于工程实现.仿真和飞行试验表明,该控制方案是有效的.
In order to realize the flying flight UAV maneuver, the flying wing UAV with the fluid vector rudder is taken as the design object, and the controller is designed with the non-linear design method and the flight is verified. The flight control has various coupling and disturbance characteristics. The inner loop is linearly decoupled to eliminate the known adverse coupling term. The outer loop backstepping method is used to track the trajectory of the control law structure, which proves the stability of the control structure Compared with the traditional backstepping control method, the controller adds an inner loop decoupling structure and retains the aerodynamic damping term in the control structure so that the linearized system is a weakly nonlinear system, which not only reduces the outer ring Conservative controller design, and easy to achieve engineering.Simulation and flight tests show that the control scheme is effective.