论文部分内容阅读
针对无人机地面方向综合控制进行研究,在Matlab环境下,采用xPC Target方案建立了实时仿真平台。通过分析,分别建立了刹车系统、前轮转弯系统及方向舵系统的模型,设计了各系统的控制律,结合整个无人机模型,主要进行了侧风及湿跑道条件下的实时仿真试验,反映了无人机在外部激励下的六自由度运动特性,取得了无人机地面方向综合控制比较好的半物理仿真效果,为无人机地面方向综合控制研究提供了依据。
According to the research of UAV integrated control on the ground, a real-time simulation platform was set up based on xPC Target in Matlab environment. Through the analysis, the braking system, the front wheel turning system and the rudder system model are respectively established, and the control law of each system is designed. Combining with the whole UAV model, the real-time simulation experiment under the condition of crosswind and wet runway is mainly carried out. Based on the six degrees of freedom motions of the UAV under external excitation, the semi-physical simulation results of the UAV integrated control over the ground are obtained, which provides the basis for the comprehensive control of UAV ground direction.