飞翼无人机舵面控制分配技术
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摘要
针对飞翼布局无人机各控制舵面之间耦合性强、实际舵机存在位置与转速约束等问题,提出一种基于效率分级的改进直接舵面分配策略。对各舵面进行操纵效率分级,针对每一级舵面提出一种改进的离散状态下的直接分配方法,并用实例对各舵面的操纵能力进行仿真分析。仿真结果表明:改进的直接分配法在舵面位置与转速2种约束同时存在的情况下,能提高分配的精度,抑制各通道的耦合现象。
This paper presents a control allocation method based on effectiveness classification using a modified way of direct allocation for the problems that the fly-wing configuration UAVs have strong control coupling, the actual actuator is simultaneously limited by position and rate of angular motion constraints. Carry out control effectiveness classification on every control surface. Aiming at every control surface, put forward direct allocation method based on modified discrete state. Then use example to carry out simulation analysis on control surface operation ability. The simulation results show that the modified direct allocation method can improve allocation precision and constrain coupling of every channel based on constrain of control surface position and rotating speed.
This paper presents a control allocation method based on effectiveness classification using a modified way of direct allocation for the problems that the fly-wing configuration UAVs have strong control coupling, the actual actuator is simultaneously limited by position and rate of angular motion constraints. Carry out control effectiveness classification on every control surface. Aiming at every control surface, put forward direct allocation method based on modified discrete state. Then use example to carry out simulation analysis on control surface operation ability. The simulation results show that the modified direct allocation method can improve allocation precision and constrain coupling of every channel based on constrain of control surface position and rotating speed.
引文
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[4]占正勇,刘林.多操纵面先进布局飞机控制分配技术研究[J].飞行力学,2006,24(1):13-16.
[5]张杰,陆宇平,徐志辉.多操纵面受限控制直接分配新算法[J].飞行力学,2012,30(5):422-426.
[6]李春涛,胡盛华.基于动态逆的无人机飞行控制律设计[J].兵工自动化,2012,31(5):1-4.
[7]李卫琪,魏晨,陈宗基.受限直接分配新算法[J].北京航空航天大学学报,2005,31(11):1177-1180.
[8]Wayne C.Durham.Attainable moments of the constrained control allocation problem[J].Journal of Guidance,Control and Dynamics,1994,17(6):1371-1373.
[2]Wayne C.Durham.Constrained Control Allocation[J].Journal of Guidance,Control and Dynamics,1993,16(4):717-725.
[3]Wayne C.Durham.Constrained Control Allocation:Three-Moment Problem[J].Journal of Guidance,Control and Dynamics,1994,17(2):330-333.
[4]占正勇,刘林.多操纵面先进布局飞机控制分配技术研究[J].飞行力学,2006,24(1):13-16.
[5]张杰,陆宇平,徐志辉.多操纵面受限控制直接分配新算法[J].飞行力学,2012,30(5):422-426.
[6]李春涛,胡盛华.基于动态逆的无人机飞行控制律设计[J].兵工自动化,2012,31(5):1-4.
[7]李卫琪,魏晨,陈宗基.受限直接分配新算法[J].北京航空航天大学学报,2005,31(11):1177-1180.
[8]Wayne C.Durham.Attainable moments of the constrained control allocation problem[J].Journal of Guidance,Control and Dynamics,1994,17(6):1371-1373.