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针对采用传统的着陆控制方法时,菱形翼布局无人机存在着陆俯仰姿态角为负,对无人机着陆不利的情况,提出一种采用直接升力进行着陆的控制方案,可以实现着陆轨迹与着陆姿态之间的解耦,使得无人机可以以较好的姿态进行着陆。采用自抗扰控制(ADRC)方法分别设计了无人机非线性直接升力控制律以及着陆轨迹跟踪控制律。仿真结果表明:采用ADRC设计的非线性直接升力控制律可以实现直接升力控制的3种模式,并且对气动参数摄动具有较强的鲁棒性;采用直接升力着陆控制方法可以使得无人机以有利的姿态进行着陆,同时在近地面突风作用下,无人机依然可以以较好的姿态进行着陆。
In the case of the traditional landing control method, the UAV with rhombic wing layout has the negative attitude of landing pitch and negative attitude to UAV landings. A control scheme of landing with direct lift is proposed to achieve landing trajectory and landing Decoupling between gestures makes the UAV landing in a better posture. The ADRC method is used to design the UAV nonlinear direct lift control law and the landing track following control law respectively. The simulation results show that the nonlinear direct lift control law designed by ADRC can realize three modes of direct lift control and has strong robustness to aerodynamic parameters perturbation. The direct lift landing control method can make UAV Favorable attitude for landing, and at the same time under the effect of gusts near the ground, the UAV can still land in a better attitude.