一种静不稳定无人机快速跃升与俯冲机动控制器设计
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摘要
针对无人机在快速跃升与俯冲机动中存在的气动耦合、操纵耦合与不确定扰动,以及由于静不稳定性而造成的不稳定俯仰力矩等问题,提出了一种新的鲁棒模型参考自适应非线性逆控制器。首先,通过基于状态反馈的非线性逆控制完成多通道之间的解耦;然后,依据解耦后的线性闭环系统设计鲁棒模型参考自适应控制器,其主要作用是对非线性逆误差与不稳定俯仰力矩进行补偿,并对不确定扰动进行抑制,从而保证无人机在整个快速机动飞行中的稳定性。通过非线性仿真验证了该控制方法在快速跃升与俯冲纵向机动控制中的有效性与可靠性,并与典型的鲁棒伺服LQR最优控制器对比,说明了该控制器的解耦性能以及对于不确定扰动的抑制作用。
A new robust model-reference adaptive nonlinear inversion controller is presented for a statically unstable UAV to perform fast climbing and diving maneuver which mainly deals with the aerodynamic and control couplings and uncertain disturbances during the maneuver as well as the unstable pitching moment caused by static instability. Firstly the nonlinear inversion control based on state-feedback is adopted to realize the decoupling between multiple control channels. Then the robust adaptive controller is designed based on the decoupled closed-loop system to compensate for the nonlinear inversion error and the unstable pitching moment and attenuate the uncertain disturbances thus to guarantee the stability of the UAV in the process of fast maneuvering. The effectiveness and robustness of the robust model-reference adaptive nonlinear inversion controller are validated through nonlinear simulations of the fast climbing and diving maneuver. Compared with the typical robust servo LQR optimal controller the designed controller has better decoupling capacity and uncertain disturbance attenuating performance.
A new robust model-reference adaptive nonlinear inversion controller is presented for a statically unstable UAV to perform fast climbing and diving maneuver which mainly deals with the aerodynamic and control couplings and uncertain disturbances during the maneuver as well as the unstable pitching moment caused by static instability. Firstly the nonlinear inversion control based on state-feedback is adopted to realize the decoupling between multiple control channels. Then the robust adaptive controller is designed based on the decoupled closed-loop system to compensate for the nonlinear inversion error and the unstable pitching moment and attenuate the uncertain disturbances thus to guarantee the stability of the UAV in the process of fast maneuvering. The effectiveness and robustness of the robust model-reference adaptive nonlinear inversion controller are validated through nonlinear simulations of the fast climbing and diving maneuver. Compared with the typical robust servo LQR optimal controller the designed controller has better decoupling capacity and uncertain disturbance attenuating performance.
引文
[1] SCHNEIDER W. Defense science board study on unmanned aerial vehicles and uninhabited combat aerial vehicle[EB/OL]. 2014-01-01(2018-01-11). http://www. iwar. org. uk/ram/resource/dsb/uav. pdf.
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[7] LEMAN T J. L1 adaptive control augmentation system for the X-48B aircraft[C]//AIAA GuidanceNavigation and Control Conference2010:1294-1303.
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[9] CHOE RHOVAKIMYAN N. Perching maneuver for an MAV augmented with an L1 adaptive controller[C]//AIAA GuidanceNavigation and Control Conference2011:712-730.
[10] PETTERSSON AASTROM K JROBERTSSON Aet al.Augmenting L1 adaptive control of piecewise constant type to a Fighter aircraft:performance and robustness evaluation for rapid maneuvering[C]//AIAA GuidanceNavigation and Control Conference2012:34-41.
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[13]国防科学技术工业委员会. GJB 185-1986有人驾驶飞机(固定翼)飞行品质[S].北京:中国标准出版社,1986:18-23.
[14] LAVRETSKY EGIBSON T E. Projection operator in adaptive systems[M]. Dessau:Springer2011.
[15] BELLMAN R. The stability of solutions of linear differential equation[J]. Duke Mathematical Journal194310(4):643-647.
[2] ALCORN C WCROOM M AFRANCIS M Set al. The X-31 aircraft:advances in aircraft agility and performance[J]. Progress Aerospace Sciences199632(11):377-413.
[3] URE N KINALHAN G. Autonomous control of unmanned combat air vehicles:design of a multimodal control and flight planning framework for agile maneuvering[J]. IEEE Control Systems Magazine201232(5):74-95.
[4] URE N KINALHAN G. Design of higher order sliding mode control laws for multimodal agile maneuvering UCAV[C]//The 2nd International Symposium on Systems&Control in Aerospace&Astronautics2008:453-458.
[5] SNELL S ANNS D FARRARD W L. Nonlinear inversion flight control for a super-maneuverable aircraft[J]. Journal of GuidanceControland Dynamics199215(4):976-984.
[6] BRINKER J SWISE K A. Flight testing of reconfigurable control law on the X-36 tailless aircraft[J]. Journal of GuidanceControland Dynamics200124(5):903-909.
[7] LEMAN T J. L1 adaptive control augmentation system for the X-48B aircraft[C]//AIAA GuidanceNavigation and Control Conference2010:1294-1303.
[8] MCFARLAND MCALISE A J. Neural-adaptive nonlinear autopilot design for an agile anti-air missile[C]//AIAA GuidanceNavigation and Control Conference1996:956-966.
[9] CHOE RHOVAKIMYAN N. Perching maneuver for an MAV augmented with an L1 adaptive controller[C]//AIAA GuidanceNavigation and Control Conference2011:712-730.
[10] PETTERSSON AASTROM K JROBERTSSON Aet al.Augmenting L1 adaptive control of piecewise constant type to a Fighter aircraft:performance and robustness evaluation for rapid maneuvering[C]//AIAA GuidanceNavigation and Control Conference2012:34-41.
[11]吴森堂,费玉华.飞行控制系统[M]. 2版.北京:北京航空航天大学出版社,2005.
[12] STEVENS B LLEWIS F L. Aircraft control and simulation[M]. New York:Wiley-Interscience2013.
[13]国防科学技术工业委员会. GJB 185-1986有人驾驶飞机(固定翼)飞行品质[S].北京:中国标准出版社,1986:18-23.
[14] LAVRETSKY EGIBSON T E. Projection operator in adaptive systems[M]. Dessau:Springer2011.
[15] BELLMAN R. The stability of solutions of linear differential equation[J]. Duke Mathematical Journal194310(4):643-647.