串置翼垂直起降无人机过渡机动飞行控制
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摘要
针对新型串置翼布局推力矢量无人机在垂直起降、过渡机动飞行过程中强非线性、强耦合及控制冗余的问题,采用动态逆控制方法设计全局控制系统,无需针对不同飞行模式切换控制策略。在此基础上,提出二级递进式控制分配策略,将序列二次规划、链式递增方法相结合,对航迹回路和姿态回路的控制量进行综合优化分配。同时,根据任务需求及飞行状态,基于离线数据库在线实时更新直接力控制分配目标函数权值。采用松弛约束策略,局部放宽非线性优化问题约束,增加优化求解速度。仿真结果表明该控制器能够有效跟踪高机动目标航迹。
Considering the problems of a new-type tandem-wing thrust vectored unmanned aerial vehicle(UAV)during vertical take-off and landing(VTOL)flight and transition maneuver flight,which are strong non-linearity,strong coupling and control redundancy,the dynamic inversion control method is used to design the global control system without changing control strategies for different flight modes.Based on this,a twostage progressive control allocation strategy is proposed.The sequential quadratic programming and chain increment methods are combined to optimize the allocation of the control variables in tracking loop and attitude loop.At the same time,according to the task requirements and flight status,the objective function weights are online real-time updated based on off-line database for the allocation of direct force control.Relaxation constraint strategy is used to locally relax constraints of nonlinear optimization problem and increase the speed of optimization solution.Simulation results show that the controller can effectively track high maneuvering trajectory.
Considering the problems of a new-type tandem-wing thrust vectored unmanned aerial vehicle(UAV)during vertical take-off and landing(VTOL)flight and transition maneuver flight,which are strong non-linearity,strong coupling and control redundancy,the dynamic inversion control method is used to design the global control system without changing control strategies for different flight modes.Based on this,a twostage progressive control allocation strategy is proposed.The sequential quadratic programming and chain increment methods are combined to optimize the allocation of the control variables in tracking loop and attitude loop.At the same time,according to the task requirements and flight status,the objective function weights are online real-time updated based on off-line database for the allocation of direct force control.Relaxation constraint strategy is used to locally relax constraints of nonlinear optimization problem and increase the speed of optimization solution.Simulation results show that the controller can effectively track high maneuvering trajectory.
引文
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[25]张迪洲,陈自力,胡永江.尾坐式无人机过渡模式纵向解耦控制[J].系统工程与电子技术,2018,40(1):132-138.ZHANG D Z,CHEN Z L,HU Y J.Longitudinal decoupling control for the tail-sitter unmanned aerial vehicle during transition[J].Systems Engineering and Electronics,2018,40(1):132-138.
[26]OOSEDO A,ABIKO S,KONNO A,et al.Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV[J].Autonomous Robots,2017,41(5):1143-1159.
[27]SWARNKAR S,PARWANA H,KOTHARI M,et al.Biplanequadrotor tail-sitter UAV:flight dynamics and control[J].Journal of Guidance,Control,and Dynamics,2018,41(5):1049-1067.
[28]NALDI R,MARCONI L.Robust control of transition maneuvers for a class of V/STOL aircraft[J].Automatica,2013,49(6):1693-1704.
[29]WANG X H,CHEN Z Q,YUAN Z Z.Modeling and control of an agile tail-sitter aircraft[J].Journal of the Franklin Institute,2015,352(12):5437-5472.
[30]方振平,陈万春,张曙光.航空飞行器飞行动力学[M].北京:北京航空航天大学出版社,2005.FANG Z P,CHEN W C,ZHANG S G.Aeronautical aircraft flight dynamics[M].Beijing:Beijing University of Aeronautics and Astronautics Press,2005.
[2]郭杰,李震,陈天悦,等.小型无人机滑跑航向纠偏及增稳控制设计[J].北京理工大学学报,2017,37(12):1287-1294.GUO J,LI Z,CHEN T Y,et al.Heading deviation correction and stability augmentation control for small UAV taxing[J].Transactions of Beijing Institute of Technology,2017,37(12):1287-1294.
[3]LU P,KAMPEN E J V,VISSER C D,et al.Aircraft fault-tolerant trajectory control using incremental nonlinear dynamic inversion[J].Control Engineering Practice,2016,57:126-141.
[4]MEHMOOD H,JOHNSON E N.A daisy-chain control design for a multirotor UAV with direct force capabilities[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference,2017.
[5]IRELAND M L,FLESSA T,THOMSON D,et al.Comparison of nonlinear dynamic inversion and inverse simulation[J].Journal of Guidance,Control,and Dynamics,2017,40(12):3304-3309.
[6]HARRIS J,VALASEK J.Direct L1-adaptive nonlinear dynamic inversion control for command augmentation systems[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference,2018.
[7]CEN Z H,SMITH T,STEWART P,et al.Integrated flight/thrust vectoring control for jet-powered unmanned aerial vehicles with ACHEON propulsion[J].Proceedings of the Institution of Mechanical Engineers Part G-Journal of Aerospace Engineering,2015,229(6):1057-1075.
[8]MA S D,YANG G Q.Helicopter nonlinear dynamic inversion flight control model design[C]∥Proc.of the IEEE International Conference on Control,Automation and Information Sciences,2016:155-161.
[9]CAVERLY R J,GIRARD A R,KOLMANOVSKY I V,et al.Nonlinear dynamic inversion of a flexible aircraft[J].IFAC-PapersOnLine,2016,49(17):338-342.
[10]JOHANSEN T A,FOSSEN T I.Control allocation-a survey[J].Automatica,2013,49(5):1087-1103.
[11]高凤杰.旋转弹的质量矩/直接力复合控制方法研究[D].北京:北京理工大学,2016.GAO F J.Integrated control of mass moment and direct force for a spinning missile[D].Beijing:Beijing Institute of Technology,2016.
[12]TOHIDI S S,SEDIGH A K,BUZORGNIA D.Fault tolerant control design using adaptive control allocation based on the pseudo inverse along the null space[J].International Journal of Robust and Nonlinear Control,2016,26(16):3541-3557.
[13]ACHESON M J.Affine generalized inverse for optimal control allocation[C]∥Proc.of the Aviation Technology,Integration,and Operations Conference,2018.
[14]HU Q L,TAN X,AKELLA M R.Cloesd-loop-based control allocation for spacecraft attitude stabilization with actuator fault[J].Journal of Guidance,Control,and Dynamics,2018,41(4):943-952.
[15]YOON H J,CICHELLA V,HOVAKIMYAN N.Robust adaptive control allocation for an octocopter under actuator faults[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference,2016.
[16]ALMEIDA F A D.Robust off-line control allocation[J].Aerospace Science and Technology,2016,52:1-9.
[17]SHEN Q,WANG D W,ZHU S Q,et al.Robust control allocation for spacecraft attitude tracking under actuator faults[J].IEEETrans.on Control Systems Technology,2017,25(3):1068-1075.
[18]FRANCESCO G D,MATTEI M.Modeling and incremental nonlinear dynamic inversion control of a novel unmanned tiltrotor[J].Journal of Aircraft,2016,53(1):73-86.
[19]YUKSEK B,VURUSKAN A,OZDEMIR U,et al.Transition flight modeling of a fixed-wing VTOL UAV[J].Journal of Intelligent and Robotic Systems,2016,84(1/4):83-105.
[20]RYLL M,BULTHOFF H H,GIORDANO P R.A novel overactuated quadrotor unmanned aerial vehicle:modeling,control,and experimental validation[J].IEEE Transactions.on Control Systems Technology,2015,23(2):540-556.
[21]HUA M D,HAMEL T,MORIN P,et al.Control of VTOLvehicles with thrust-tilting augmentation[J].Automatica,2015,52:1-7.
[22]HERNANDEZ-GARCIA R G,RODRIGUEZ-CORTES H.Transition flight control of a cyclic tiltrotor UAV based on the gain-scheduling strategy[C]∥Proc.of the International Conference on Unmanned Aircraft Systems,2015:951-956.
[23]YEO Y T,LIU H H T.Transition control of a tilt-rotor VTOL UAV[C]∥Proc.of the AIAA Guidance,Navigation,and Control Conference,2018:1848.
[24]BANAZADEH A,TAYMOURTASH N.Optimal control of an aerial tail sitter in transition flight phases[J].Journal of Aircraft,2016,53(4):914-921.
[25]张迪洲,陈自力,胡永江.尾坐式无人机过渡模式纵向解耦控制[J].系统工程与电子技术,2018,40(1):132-138.ZHANG D Z,CHEN Z L,HU Y J.Longitudinal decoupling control for the tail-sitter unmanned aerial vehicle during transition[J].Systems Engineering and Electronics,2018,40(1):132-138.
[26]OOSEDO A,ABIKO S,KONNO A,et al.Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV[J].Autonomous Robots,2017,41(5):1143-1159.
[27]SWARNKAR S,PARWANA H,KOTHARI M,et al.Biplanequadrotor tail-sitter UAV:flight dynamics and control[J].Journal of Guidance,Control,and Dynamics,2018,41(5):1049-1067.
[28]NALDI R,MARCONI L.Robust control of transition maneuvers for a class of V/STOL aircraft[J].Automatica,2013,49(6):1693-1704.
[29]WANG X H,CHEN Z Q,YUAN Z Z.Modeling and control of an agile tail-sitter aircraft[J].Journal of the Franklin Institute,2015,352(12):5437-5472.
[30]方振平,陈万春,张曙光.航空飞行器飞行动力学[M].北京:北京航空航天大学出版社,2005.FANG Z P,CHEN W C,ZHANG S G.Aeronautical aircraft flight dynamics[M].Beijing:Beijing University of Aeronautics and Astronautics Press,2005.