摘要
无人机飞行中受到大气小扰动影响容易导致飞行失稳,为了提高飞行稳定性,提出一种基于多维谱峰联合加权搜索的无人机控制抗扰动算法。在速度坐标系、体坐标系、弹道坐标系三维坐标系中构建无人机飞行的空间动力学模型,采用分布源建模方法进行无人机飞行的波束指向性特征分析,利用波束域方向的加权系数控制无人机的稳态跟踪误差,结合波束主瓣宽度进行飞行小扰动抑制,采用多维谱峰联合加权搜索方法实现对无人机飞行控制参量的联合估计,根据参量估计结果进行误差反馈和扰动抑制,提高飞行稳定控制性能。仿真结果表明,采用该方法进行无人机控制的抗扰动性较好,对飞行控制参量的联合估计准确性较高,输出稳定性较好。
In order to improve the flight stability,an anti-disturbance control algorithm for UAV based on multidimensional spectral peak combined weighted search is proposed.The spatial dynamics model of UAV flight is constructed in the velocity coordinate system,the body coordinate system and the ballistic coordinate system.The distributed source modeling method is used to analyze the beam directivity characteristics of UAV flight.The steadystate tracking error of UAV is controlled by the weighting coefficient of beamspace direction,and the small disturbance suppression is carried out by combining the width of the main lobe of the beam,and the joint estimation of UAV flight control parameters is realized by using the multi-dimensional spectral peak joint weighted search method.Error feedback and disturbance suppression are carried out according to parameter estimation results to improve flight stability control performance.The simulation results show that the proposed method has better anti-disturbance performance,higher accuracy of joint estimation of flight control parameters and better output stability.
引文
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