无人机姿态控制系统设计及仿真
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摘要
在无人机飞行姿态优化控制的研究中,由于无人飞行器空气动力学特性复杂,受空气扰动、测量噪声等因素影响,难以建立精确控制数学模型。为此提出一种双闭环复合控制策略,对外环姿态采用动态逆控制生成目标角速率,内环角速率控制采用扩张状态观测器以及滑模变结构控制相结合的复合控制策略,并对控制策略进行了用专业飞行模拟软件X-plane和仿真计算软件MATLAB进行数字仿真。仿真结果表明,上述控制策略能够在不需要建立飞行器精确模型的前提下实现被控对象姿态的精确跟踪,具有很强的鲁棒性和自适应能力。
Aerodynamic characteristic of unmanned aerial vehicle( UAV) is complex,which is affected by the factors such as air disturbance,so it is difficult to establish accurate mathematical model of UAV. This paper put forward a double closed- loop compound control strategy for the UAV attitude control system,the outer loop generated the target angular rate by dynamic inversion control,and the inner loop angular rate control strategy was designed with extended state observer and sliding mode variable structure control. Simulation experiment was taken based on MATLAB and X- plane which is a professional flight simulation software. The simulation results show that the proposed control strategy can ensure the controlled object attitude accurate tracking without the accurate model,and has strong robustness and adaptive ability.
Aerodynamic characteristic of unmanned aerial vehicle( UAV) is complex,which is affected by the factors such as air disturbance,so it is difficult to establish accurate mathematical model of UAV. This paper put forward a double closed- loop compound control strategy for the UAV attitude control system,the outer loop generated the target angular rate by dynamic inversion control,and the inner loop angular rate control strategy was designed with extended state observer and sliding mode variable structure control. Simulation experiment was taken based on MATLAB and X- plane which is a professional flight simulation software. The simulation results show that the proposed control strategy can ensure the controlled object attitude accurate tracking without the accurate model,and has strong robustness and adaptive ability.
引文
[1]Willem J Hough.Autonomous Aerobatic Flight of a Fixed Wing Unmanned Aerial Vehicle[D].University of Stellenbosch.Private Bag X1,Matieland,7602,Stellenbosch,South Africa,2007.
[2]杜金刚.基于动态逆方法的飞行控制系统设计与仿真[D].西北工业大学,2006.
[3]Jean-Jacques E Slotine,Li Weiping.Applied Nonlinear Control[M].Pearson Education,Inc.Prentice Hall International Inc.1991.
[4]金鸿章,等.抑制滑模抖振的新型饱和函数法研究[J].哈尔滨工程大学学报,2007,3(28):288-291.
[5]张鹏,张金鹏.变结构控制的抖振问题研究[J].航空兵器,2013,4(2):9-13.
[6]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.
[7]都基焱,张振,史巍巍.十字翼布局无人机半实物仿真系统设计[J].现代电子技术,2014,37(5):18-20.
[2]杜金刚.基于动态逆方法的飞行控制系统设计与仿真[D].西北工业大学,2006.
[3]Jean-Jacques E Slotine,Li Weiping.Applied Nonlinear Control[M].Pearson Education,Inc.Prentice Hall International Inc.1991.
[4]金鸿章,等.抑制滑模抖振的新型饱和函数法研究[J].哈尔滨工程大学学报,2007,3(28):288-291.
[5]张鹏,张金鹏.变结构控制的抖振问题研究[J].航空兵器,2013,4(2):9-13.
[6]韩京清.从PID技术到“自抗扰控制”技术[J].控制工程,2002,9(3):13-18.
[7]都基焱,张振,史巍巍.十字翼布局无人机半实物仿真系统设计[J].现代电子技术,2014,37(5):18-20.