变推力轴线无人机飞行控制技术研究
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摘要
侦察与打击是无人机在未来战场上发挥重要作用的两个方面。察打一体化无人机具有巡航侦察、实时攻击等多方面的能力,正逐渐成为世界各国研究的重点对象之一。轨迹精确跟踪控制是察打无人机需要解决的重要问题。基于未来战场形势的发展趋势,本文研究了变推力轴线无人机的轨迹控制问题。
启发于推力矢量技术在飞行控制中的成功应用,提出了螺旋桨无人机的变推力轴线技术。建立了变推力轴线无人机的非线性全量数学模型,分析了与传统无人机数学模型之间的区别。基于常规飞机机动性与敏捷性的概念,推导了变推力轴线无人机能量机动性、变向机动性、变空间位置机动性、瞬态敏捷性、功能敏捷性、潜力敏捷性等指标的计算公式,并与普通无人机进行了比较分析,结果表明了推力变向技术在一定条件下能够提高或改善无人机的机敏性。针对察打一体化无人机的姿态控制问题,在气动舵面控制的基础上,增加了推力变向控制,从而提出了基于气动操纵面与可变推力的混合姿态控制策略,其中推力变向控制律与气动操纵面控制律在形式上是一致的,通过对非线性对象的仿真研究,验证了变推力轴线无人机数学模型的正确性,也表明推力变向技术能够增加飞机的操纵能力,改善了无人机的姿态控制效果。针对察打一体化无人机的轨迹控制问题,设计了由姿态内回路和轨迹外回路组成的控制系统,姿态回路的控制量仍然是三个气动操纵面,而轨迹回路增加了两个推力偏转角,非线性对象的仿真结果表明,基于高度差、偏航距等轨迹信息的推力偏转控制技术能够对实现无人机的较好控制,提高了轨迹控制精度。
为进一步提高变推力轴线技术在察打一体化无人机上的作用,引入大脑情感学习智能控制技术来设计推力偏转控制律,从而提高控制器的在线自适应能力。在理论分析大脑情感学习智能控制器内部学习权值稳定性的基础上,分别设计了基于大脑情感学习的推力变向直接控制方案与间接控制方案,通过非线性对象的仿真研究,表明了两种智能控制结构均在一定程度上改善了无人机的姿态与轨迹控制效果,充分体现了基于大脑情感学习的飞行控制系统具有较好的自整定和自适应能力。
为解决变推力轴线无人机飞行控制系统的工程实现问题,在讨论变推力轴线无人机系统整体构架的基础上,分别针对变推力轴线无人机的软硬件系统展开了器件选型和设计。并在设计过程中,应用模块化技术解决了系统硬件组建和通讯软件设计问题,根据飞行控制的任务需求,设计了软件分层、定时器分级的软件逻辑构架,同时为了丰富人机交互界面,基于VC++开发工具设计了一套无人机界面控件库,有效地加快了飞行控制系统的软件研发进度,增强了系统软件的可维护性。
为验证变推力轴线无人机控制系统的有效性,进行了半物理仿真研究。首先讨论了不同飞行仿真平台的组成,并给出了仿真系统的硬件选型和软件逻辑设计,为了保证飞行仿真的精确度和实时性,对多种飞行仿真算法的计算效率进行了分析,最后通过典型的半物理飞行仿真实验,展现了仿真系统的具体功能以及变推力轴线控制的优越性。
UAV system will be used for reconnaissance missions as well as for strike operations over future battlefield. UAV system’s specific characteristics of ability of loitering and performing sudden strikes make it one of the focuses of research and development all over the world. The problem of precise trajectory control is very important for UAV system’s development. In view of the future of battlefield environment, this dissertation focus on the problem of trajectory control for alterable thrust direction UAVs.
Inspired by the successful application of thrust vectoring techniques in flight control system, techniques we called“alterable thrust direction”are proposed for propeller-driven UAV system. A nonlinear mathematical model is developed for alterable thrust direction UAV systems, and the difference between it and the traditional UAV mathematical model is analyzed. Based on the concept of maneuverability and agility for routine aircrafts, the computation of indexs of energy maneuverability, course manoeuvrability, space maneuverability, transient agility, functional agility and potential agility is deduced, and comparison with those of routine UAVs is made. The result shows that techniques of alterable thrust direction can improve the UAVs’maneuverability and agility under certain conditions.
In addition to aerodynamic surfaces control, thrust deflection control is used as well to solve the problem of attitude control for UAVs. And so, a combined attitude control strategy is proposed. In this strategy, the law of alterable thrust direction control and that of aerodynamic surfaces control are consistent in form. The correctness of mathematic model of alterable thrust direction UAVs is verified through simulation of nonlinear object. The simulation also shows that the techniques can improve the maneuverability of UAVs. A control system consisting of inner loop and outer loop is designed to solve the problem of trajectory control. The control variables are still of the three aerodynamic surfaces, but two thrust deflection angles are added into the outer loop. The simulation proves that the alterable thrust direction techniques based on information such as altitude difference and cross track error can improve the precision of UAVs’trajectory control.
To further improve this technique’s application in UAVs, Brain emotional learning (BEL) model is introduced to design thrust deflection control law, in anticipating the improvement of controller’s online adaptive ability. After the stability analysis of the BEL model’s inner weights, thrust deflection direct control scheme and indirect control scheme are designed respectively. The simulation results show that effect of control is improved under the two schemes, control system based on BEL model exhibits good autotuning ability and adaptiveness.
As for the engineering realization of this control system, besides the discussion of the architecture of alterable thrust direction UAVs, the selection and design of hardware and software are carried out. During the design process, modular techniques are used to solve the problems in hardware architecture and communication software design. In accordance with the mission requirement of flight control, layered software architecture and grading timer are designed. A GUI software kit is developed using VC++ tools for human computer interface. That kit increases the software development efficiency, and the maintainability of software system is also improved.
To verify the effectiveness of alterable thrust direction UAV control system, semi-physical simulation is carried out. The constitution of flight simulation platform is discussed, and the hardware selection and software logic design are proposed. The computation efficiencies of various flight simulation algorithms are analyzed to ensure the precision and real-time capability of simulation. In the last part of this dissertation, the specific functions of simulation system and the superiority of alterable thrust direction control techniques are demonstrated through typical semi-physical flight simulations.
启发于推力矢量技术在飞行控制中的成功应用,提出了螺旋桨无人机的变推力轴线技术。建立了变推力轴线无人机的非线性全量数学模型,分析了与传统无人机数学模型之间的区别。基于常规飞机机动性与敏捷性的概念,推导了变推力轴线无人机能量机动性、变向机动性、变空间位置机动性、瞬态敏捷性、功能敏捷性、潜力敏捷性等指标的计算公式,并与普通无人机进行了比较分析,结果表明了推力变向技术在一定条件下能够提高或改善无人机的机敏性。针对察打一体化无人机的姿态控制问题,在气动舵面控制的基础上,增加了推力变向控制,从而提出了基于气动操纵面与可变推力的混合姿态控制策略,其中推力变向控制律与气动操纵面控制律在形式上是一致的,通过对非线性对象的仿真研究,验证了变推力轴线无人机数学模型的正确性,也表明推力变向技术能够增加飞机的操纵能力,改善了无人机的姿态控制效果。针对察打一体化无人机的轨迹控制问题,设计了由姿态内回路和轨迹外回路组成的控制系统,姿态回路的控制量仍然是三个气动操纵面,而轨迹回路增加了两个推力偏转角,非线性对象的仿真结果表明,基于高度差、偏航距等轨迹信息的推力偏转控制技术能够对实现无人机的较好控制,提高了轨迹控制精度。
为进一步提高变推力轴线技术在察打一体化无人机上的作用,引入大脑情感学习智能控制技术来设计推力偏转控制律,从而提高控制器的在线自适应能力。在理论分析大脑情感学习智能控制器内部学习权值稳定性的基础上,分别设计了基于大脑情感学习的推力变向直接控制方案与间接控制方案,通过非线性对象的仿真研究,表明了两种智能控制结构均在一定程度上改善了无人机的姿态与轨迹控制效果,充分体现了基于大脑情感学习的飞行控制系统具有较好的自整定和自适应能力。
为解决变推力轴线无人机飞行控制系统的工程实现问题,在讨论变推力轴线无人机系统整体构架的基础上,分别针对变推力轴线无人机的软硬件系统展开了器件选型和设计。并在设计过程中,应用模块化技术解决了系统硬件组建和通讯软件设计问题,根据飞行控制的任务需求,设计了软件分层、定时器分级的软件逻辑构架,同时为了丰富人机交互界面,基于VC++开发工具设计了一套无人机界面控件库,有效地加快了飞行控制系统的软件研发进度,增强了系统软件的可维护性。
为验证变推力轴线无人机控制系统的有效性,进行了半物理仿真研究。首先讨论了不同飞行仿真平台的组成,并给出了仿真系统的硬件选型和软件逻辑设计,为了保证飞行仿真的精确度和实时性,对多种飞行仿真算法的计算效率进行了分析,最后通过典型的半物理飞行仿真实验,展现了仿真系统的具体功能以及变推力轴线控制的优越性。
UAV system will be used for reconnaissance missions as well as for strike operations over future battlefield. UAV system’s specific characteristics of ability of loitering and performing sudden strikes make it one of the focuses of research and development all over the world. The problem of precise trajectory control is very important for UAV system’s development. In view of the future of battlefield environment, this dissertation focus on the problem of trajectory control for alterable thrust direction UAVs.
Inspired by the successful application of thrust vectoring techniques in flight control system, techniques we called“alterable thrust direction”are proposed for propeller-driven UAV system. A nonlinear mathematical model is developed for alterable thrust direction UAV systems, and the difference between it and the traditional UAV mathematical model is analyzed. Based on the concept of maneuverability and agility for routine aircrafts, the computation of indexs of energy maneuverability, course manoeuvrability, space maneuverability, transient agility, functional agility and potential agility is deduced, and comparison with those of routine UAVs is made. The result shows that techniques of alterable thrust direction can improve the UAVs’maneuverability and agility under certain conditions.
In addition to aerodynamic surfaces control, thrust deflection control is used as well to solve the problem of attitude control for UAVs. And so, a combined attitude control strategy is proposed. In this strategy, the law of alterable thrust direction control and that of aerodynamic surfaces control are consistent in form. The correctness of mathematic model of alterable thrust direction UAVs is verified through simulation of nonlinear object. The simulation also shows that the techniques can improve the maneuverability of UAVs. A control system consisting of inner loop and outer loop is designed to solve the problem of trajectory control. The control variables are still of the three aerodynamic surfaces, but two thrust deflection angles are added into the outer loop. The simulation proves that the alterable thrust direction techniques based on information such as altitude difference and cross track error can improve the precision of UAVs’trajectory control.
To further improve this technique’s application in UAVs, Brain emotional learning (BEL) model is introduced to design thrust deflection control law, in anticipating the improvement of controller’s online adaptive ability. After the stability analysis of the BEL model’s inner weights, thrust deflection direct control scheme and indirect control scheme are designed respectively. The simulation results show that effect of control is improved under the two schemes, control system based on BEL model exhibits good autotuning ability and adaptiveness.
As for the engineering realization of this control system, besides the discussion of the architecture of alterable thrust direction UAVs, the selection and design of hardware and software are carried out. During the design process, modular techniques are used to solve the problems in hardware architecture and communication software design. In accordance with the mission requirement of flight control, layered software architecture and grading timer are designed. A GUI software kit is developed using VC++ tools for human computer interface. That kit increases the software development efficiency, and the maintainability of software system is also improved.
To verify the effectiveness of alterable thrust direction UAV control system, semi-physical simulation is carried out. The constitution of flight simulation platform is discussed, and the hardware selection and software logic design are proposed. The computation efficiencies of various flight simulation algorithms are analyzed to ensure the precision and real-time capability of simulation. In the last part of this dissertation, the specific functions of simulation system and the superiority of alterable thrust direction control techniques are demonstrated through typical semi-physical flight simulations.
引文
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