无人机自动着陆纵向控制技术研究
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摘要
近年来无人机的研制在世界范围内蓬勃发展,世界各国都在大力发展各种用途的无人飞行器;因为无人机具有许多载人机无可比拟的优点,能出色完成许多载人机难以胜任的任务,但同时也存在许多问题需要解决;其关键的技术之一就是无人机完成任务后的安全着陆回收问题,精确的控制律设计对无人机的安全自动着陆必不可少。
本文首先建立了无人机六自由度非线性数学模型,并详细分析了其动力学特性和动态响应曲线:随后根据无人机的对象特性和着陆系统的总体结构,提出了着陆阶段的品质和性能要求,同时详尽设计了无人机自动着陆过程的下滑轨迹。
然后,针对经典PID控制方法所设计的控制律响应速度慢、振荡等现象,提出了一种基于切换输出比例因子的自调整模糊控制方法,设计了自动着陆的控制律:仿真结果表明,该方法有效地实现了轨迹跟踪控制,具有良好的动态和静态性能;并通过加入随机干扰,验证了所设计系统的鲁棒稳定性。
最后,分析了无人机在着陆过程中的各种随机干扰、非线性和其它不确定项,并针对不确定外部干扰和白噪声干扰设计了H_∞和H_2线性状态反馈控制器,使系统保持鲁棒稳定;在两种干扰同时存在的条件下,采用混合H_2/H_∞鲁棒控制,无人机仍能满足自动着陆的各项性能指标。
In recent years the developments of Unmanned Aircraft Vehicle (UAV) in the world flourish, various uses of UAV are vigorously developed in the world. UAVs have many advantages that manned aircraft unmatched, dependence on manned aircraft is difficult with competent, but also there are many problems to be solved. One of its key technologies is the safety of landing recovery after completing its mission, precise control law designed for the safety of automatic landing is essential.
This paper first established a non-linear mathematical UAV model of six degrees of freedom, and a detailed analysis of its dynamic characteristics and dynamic response curve. Followed, in accordance with the object of landing systems, the quality of the landing phases and performance requirements were listed. Finally paper detailedly design the process of automatic landing trajectory.
Then, classic PID control methods were designed with the slow response to control law, vibration and other phenomenon, a method based on switching the ratio of output of the self-adjusting fuzzy controller was designed. Simulation results showed that the method was effective realized on the tracking control, and had a good dynamic and static performance. At the same time by joining random interference, the robust stability of the system was verified.
Finally, various kinds of interference may be encountered in the course of auto landing were introduced. And then paper designed H_∞and H_2 controller to against uncertain systems and white noise interference. At last hybrid H_2/H_∞robust control the condition with theexistence of two kinds of interference at the same time, the automatic landing can still meet the performance targets.
本文首先建立了无人机六自由度非线性数学模型,并详细分析了其动力学特性和动态响应曲线:随后根据无人机的对象特性和着陆系统的总体结构,提出了着陆阶段的品质和性能要求,同时详尽设计了无人机自动着陆过程的下滑轨迹。
然后,针对经典PID控制方法所设计的控制律响应速度慢、振荡等现象,提出了一种基于切换输出比例因子的自调整模糊控制方法,设计了自动着陆的控制律:仿真结果表明,该方法有效地实现了轨迹跟踪控制,具有良好的动态和静态性能;并通过加入随机干扰,验证了所设计系统的鲁棒稳定性。
最后,分析了无人机在着陆过程中的各种随机干扰、非线性和其它不确定项,并针对不确定外部干扰和白噪声干扰设计了H_∞和H_2线性状态反馈控制器,使系统保持鲁棒稳定;在两种干扰同时存在的条件下,采用混合H_2/H_∞鲁棒控制,无人机仍能满足自动着陆的各项性能指标。
In recent years the developments of Unmanned Aircraft Vehicle (UAV) in the world flourish, various uses of UAV are vigorously developed in the world. UAVs have many advantages that manned aircraft unmatched, dependence on manned aircraft is difficult with competent, but also there are many problems to be solved. One of its key technologies is the safety of landing recovery after completing its mission, precise control law designed for the safety of automatic landing is essential.
This paper first established a non-linear mathematical UAV model of six degrees of freedom, and a detailed analysis of its dynamic characteristics and dynamic response curve. Followed, in accordance with the object of landing systems, the quality of the landing phases and performance requirements were listed. Finally paper detailedly design the process of automatic landing trajectory.
Then, classic PID control methods were designed with the slow response to control law, vibration and other phenomenon, a method based on switching the ratio of output of the self-adjusting fuzzy controller was designed. Simulation results showed that the method was effective realized on the tracking control, and had a good dynamic and static performance. At the same time by joining random interference, the robust stability of the system was verified.
Finally, various kinds of interference may be encountered in the course of auto landing were introduced. And then paper designed H_∞and H_2 controller to against uncertain systems and white noise interference. At last hybrid H_2/H_∞robust control the condition with theexistence of two kinds of interference at the same time, the automatic landing can still meet the performance targets.
引文
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[2]郭圣洪,许云峰.新一代攻击型飞机的性能要求[J].航空科学技术,2003(1).
[3]冯昊.无人机自动着陆系统设计[D].南京航空航天大学,2003.
[4]吴小椿.无人机问世之初[J].航空知识,2001.
[5]张珊珊译,吴晓鸥校.美国无人机发展概况[J].外军炮兵,2005.3.
[6]计秀敏.无人机的发展及其影响[C].中国航空学会飞机总体专业委员会第五次学术交流会论文集,2002.9.
[7]苏新兵,王建平,华江涛.无人驾驶飞机综述[J].航空制造技术,2003.3.
[8]韦晓波.无人机研究综述[C].中国航空学会信号与信息处理专业第八届学术会议论文集,2004.10.
[9]L.E Faleiro,A.A.Lambregts,Analysis and Tuning of a 'Total EnergyControl System'Control Law Using Eigenstructure Assignraent[J],AerospaceScience and Technology,1999,No.3:127-140.
[10]Y Ochi,K Kanai,Automatic Approach and Landing for Propulsion Controlled Aircraft[C],Proceedings of the IEEE International Conference on Control Applications,Hawai,August 1999:22-27.
[11]Ghalia M.B.,Alouani A.T.,Robust Control Design of an Autolanding System[M],Proceedings SSST'93.
[12]J Che,D Chen,Automatic Landing Control using H_∞ Control and Stable Inversion[C],Proceedings of the 40th IEEE Conference on Decision and Control,Florida,December 2001:241-246.
[13]M Ohno,et al.,Robust Flight Control Law Design for an Automatic Landing Flight Experimet[J],Control Engineering Practice 1999:1143-1151.
[14]袁锁中,陶德桂.自动着陆系统综合控制研究[J].南京航空航天大学学报,2003,35(2):184-188.
[15]Isaac LKaminer,Pramod P.Khargonekar,Design of the flight control law forlongitudinal autopilot using H_2 synthesis[C],Proceedings of the 29~(th)Conference onDecision and Control,Honolulu,Hawaii,1990:2981-2986.
[16]Shyh PyngShue,Ramesh K.Agarwal,Design of auto-matic landing systemsusing mixed H_2/H_∞ control[J],Journal of Guidance,Control,and Dynamics,1999,22(1):103-113.
[17]Niewoehner R.J.,Isaac I.Kaminer,Design of an au-toland controller for an F-14 aircraft using H_2 synthe-sis[J],Journal of Guidance,Control,and Dynamics,1996,19(3):656-663.
[18]J.G.Juang,et al,Application of Time Delay Neural Network to Automatic Landing Control[C],Proceedings of the 2002 IEEE International Conference on Control Applications,Glasgow,September 2002:150-155.
[19]J.G.Juang,et al,Aircraft Landing Control Based on Fuzzy Modeling[J]Networks,Proceedings of the 2002 IEEE International Conference on Control Applications,Glasgow,September 2002:144-149.
[20]J.G.Juang,et al,Wind Disturbances Encountered during Controlled Landings Using Neural Network Approaches[C],Proceedings of the 2001 IEEE International Conference on Control Applications,Mexico City,September 2001:835-840.
[21]J.G.Juang,et al,Intelligent Landing Control Using Linearized Inverse Aircraft Model[J],Proceeding of the American Control Conference,Anchorage,May 2002:3269-3274.
[22]C.C.Jorgensen and C.Schley,A Neural Network Baseline Problem for Control of Aircraft Flare and Touchdown[J],Neural Networks for Contorl,1991:403-425.
[23]Saini,G.,Adaptive Critic Based Neurocontroller for Autolanding of Aircrafts[C],American Control Conference,June,Vol.2,1997:2288-2293.
[24]Izadi,H.,et al,Optimal Neuro-controller in Longitudinal Autolanding of a Commercial Jet Transport[J],CCA 2003,June,Vol.1,2003:492-497.
[25]文传源.现代飞行控制系统[M].北京航空航天大学出版社,1992.
[26]张明廉.飞行控制系统[M].航空工业出版社,1994.
[27]方振平.带自动器飞机飞行动力学[M].国防工业出版社,1999.
[28]吴麟.自动控制原理[M].清华大学出版社,1994
[29]徐廷学,曹云峰,罗锋.某型无人机自动着陆系统研究[J].南京航空航天大学学报,29(5),1997:523-528.
[30]章卫国,王新民,刘长林.舰载飞机纵向自动着舰控制系统研究[J].西北工业大学学报,14(4),1996:549-552.
[31]A.A.Lambregts,J.E Creedon,Development and Flight Evaluation of Automatic Flare laws with Improved Touchdown Dispersion[J],AIAA Paper,August 1980:254-264.
[32]Lambregts A.A.,Vertical flight path and speed control autopilot design using total energy principles[J],AIAA Paper 83-2239CP,August 1983.
[33]Lambregts A.A.,Operational aspects of the integrated vertical flight path and speed control system[J],SAE Paper 83-1561,October 1983.
[34]Y Ma.et al.Euclidean Structure and Motion from Image Sequences[J].Computervision research report.1996.
[35]TUNG D,SUTER D,BAB-HADIASHAR,A Aircraft Approach Angle Estimation:Vision Based Landing[R].MECSE-28-2003.
[36]T.Cx.McGee,R.Sengupta et al.Obstacle Detection for Small Autonomousaircraft Using Sky Segmentation http://vehiele.me.berkeley.edu//tmcgee/researchphoto/2005_2.pdf.
[37]Fortes C Vpnik V,Support vector networks Machine Learning[M],1995.20:273-297
[38]E.Frew,R.Sengupta,et al.Vision-Based Road-Following Using a small Autonomous Aircraft[J],IEEE 2004:3006-3015.
[39]Current and Future UAV Military Users and Applications[J],.AIR & SPACE EUROPE.1999,1(5/6):51-58.
[40]王永寿.日本对无人机起飞与着陆技术的研究[J].飞航导弹.2005(3):45-49.
[41]吴森堂,费玉华.飞行控制系统.[M].北京航空航天大学出版社,2005.
[42]吴了泥.演示样机无动力横侧向控制律设计[D].南京航空航天大学,2005.
[43]马启鑫.RLV自动着陆段纵向控制律设计[D].南京航空航天大学,2005.
[44]孙春贞.无人机最简控制系统[D].南京航空航天大学,2003.
[45]赵国军.基于神经网络的自适应逆控制及在飞机自动着陆中的应用[D].西北工业大学.2003.
[46][德]鲁道夫·布罗克豪斯著.飞行控制(金长江译)[M].国防工业出版社.1999:122-368.
[47]Cao Yunfeng,Tao Yong,Shen Yongzhang.Guidance and Control for Automatic Landing of UAV[J].Transactions of Nanjing University of Aeronautics & Astronautics.2001,18(2):229-235.
[48]刘新华.基于视觉的无人机着陆姿态检测和跑道识别[D].南京航空航天大学,2003.
[49]陈海.无人机自主着陆控制综述及自主着陆控制系统设计[D].西北工业大学,2007.
[50]张才文,周同礼.某型无人机自动着陆轨迹研究[J].弹道学报.2000,12(2):74-77.
[51]Mafiano I.Lizarraga.Autonomous Landing System for a UAV[D].2004.3.
[52]宁东方.无人机自动着陆控制系统的设计与实现研究[D].西北工业大学.2006.03.
[53]陈海.无人机自主控制综述及自主着陆控制系统设计[D].西北工业大学.2007.03.
[54]杨向忠,章卫国,模糊控制方法及其在飞控中的应用[J],飞行力学.1998,16(4):42-46.
[55]章卫国,薛璞,杨向忠,肖顺达.舰载机自动着舰模糊控制系统的设计[J].飞行力学.1997,15(2):33-37.
[56]李爱军,沈毅,章卫国.飞机自动着陆的模糊控制系统设计[J].武器装备自动化.2002,21(6):4-7.
[57]Wang Rui,Zhou Zhou,Shen Yanhang.Robust Landing Control and Simulation for Flying Wing UAV[C].The 26th Chinese Control Conference.July 2007 Zhangjiajie,Hunan,China.
[58]胡寿松,王执铨,胡维礼.最优控制理论与系统[M].科学出版社.2005.
[59]左奇,刘慧英.H_∞控制理论在飞机阵风着陆控制中的应用[J].飞行力学.2001.06,19(2).
[60]王欣,史中科.高阶Raccati方程加权矩阵选择方法及其在飞控中的应用[J].航空学报.2005.05,26(3).
[2]郭圣洪,许云峰.新一代攻击型飞机的性能要求[J].航空科学技术,2003(1).
[3]冯昊.无人机自动着陆系统设计[D].南京航空航天大学,2003.
[4]吴小椿.无人机问世之初[J].航空知识,2001.
[5]张珊珊译,吴晓鸥校.美国无人机发展概况[J].外军炮兵,2005.3.
[6]计秀敏.无人机的发展及其影响[C].中国航空学会飞机总体专业委员会第五次学术交流会论文集,2002.9.
[7]苏新兵,王建平,华江涛.无人驾驶飞机综述[J].航空制造技术,2003.3.
[8]韦晓波.无人机研究综述[C].中国航空学会信号与信息处理专业第八届学术会议论文集,2004.10.
[9]L.E Faleiro,A.A.Lambregts,Analysis and Tuning of a 'Total EnergyControl System'Control Law Using Eigenstructure Assignraent[J],AerospaceScience and Technology,1999,No.3:127-140.
[10]Y Ochi,K Kanai,Automatic Approach and Landing for Propulsion Controlled Aircraft[C],Proceedings of the IEEE International Conference on Control Applications,Hawai,August 1999:22-27.
[11]Ghalia M.B.,Alouani A.T.,Robust Control Design of an Autolanding System[M],Proceedings SSST'93.
[12]J Che,D Chen,Automatic Landing Control using H_∞ Control and Stable Inversion[C],Proceedings of the 40th IEEE Conference on Decision and Control,Florida,December 2001:241-246.
[13]M Ohno,et al.,Robust Flight Control Law Design for an Automatic Landing Flight Experimet[J],Control Engineering Practice 1999:1143-1151.
[14]袁锁中,陶德桂.自动着陆系统综合控制研究[J].南京航空航天大学学报,2003,35(2):184-188.
[15]Isaac LKaminer,Pramod P.Khargonekar,Design of the flight control law forlongitudinal autopilot using H_2 synthesis[C],Proceedings of the 29~(th)Conference onDecision and Control,Honolulu,Hawaii,1990:2981-2986.
[16]Shyh PyngShue,Ramesh K.Agarwal,Design of auto-matic landing systemsusing mixed H_2/H_∞ control[J],Journal of Guidance,Control,and Dynamics,1999,22(1):103-113.
[17]Niewoehner R.J.,Isaac I.Kaminer,Design of an au-toland controller for an F-14 aircraft using H_2 synthe-sis[J],Journal of Guidance,Control,and Dynamics,1996,19(3):656-663.
[18]J.G.Juang,et al,Application of Time Delay Neural Network to Automatic Landing Control[C],Proceedings of the 2002 IEEE International Conference on Control Applications,Glasgow,September 2002:150-155.
[19]J.G.Juang,et al,Aircraft Landing Control Based on Fuzzy Modeling[J]Networks,Proceedings of the 2002 IEEE International Conference on Control Applications,Glasgow,September 2002:144-149.
[20]J.G.Juang,et al,Wind Disturbances Encountered during Controlled Landings Using Neural Network Approaches[C],Proceedings of the 2001 IEEE International Conference on Control Applications,Mexico City,September 2001:835-840.
[21]J.G.Juang,et al,Intelligent Landing Control Using Linearized Inverse Aircraft Model[J],Proceeding of the American Control Conference,Anchorage,May 2002:3269-3274.
[22]C.C.Jorgensen and C.Schley,A Neural Network Baseline Problem for Control of Aircraft Flare and Touchdown[J],Neural Networks for Contorl,1991:403-425.
[23]Saini,G.,Adaptive Critic Based Neurocontroller for Autolanding of Aircrafts[C],American Control Conference,June,Vol.2,1997:2288-2293.
[24]Izadi,H.,et al,Optimal Neuro-controller in Longitudinal Autolanding of a Commercial Jet Transport[J],CCA 2003,June,Vol.1,2003:492-497.
[25]文传源.现代飞行控制系统[M].北京航空航天大学出版社,1992.
[26]张明廉.飞行控制系统[M].航空工业出版社,1994.
[27]方振平.带自动器飞机飞行动力学[M].国防工业出版社,1999.
[28]吴麟.自动控制原理[M].清华大学出版社,1994
[29]徐廷学,曹云峰,罗锋.某型无人机自动着陆系统研究[J].南京航空航天大学学报,29(5),1997:523-528.
[30]章卫国,王新民,刘长林.舰载飞机纵向自动着舰控制系统研究[J].西北工业大学学报,14(4),1996:549-552.
[31]A.A.Lambregts,J.E Creedon,Development and Flight Evaluation of Automatic Flare laws with Improved Touchdown Dispersion[J],AIAA Paper,August 1980:254-264.
[32]Lambregts A.A.,Vertical flight path and speed control autopilot design using total energy principles[J],AIAA Paper 83-2239CP,August 1983.
[33]Lambregts A.A.,Operational aspects of the integrated vertical flight path and speed control system[J],SAE Paper 83-1561,October 1983.
[34]Y Ma.et al.Euclidean Structure and Motion from Image Sequences[J].Computervision research report.1996.
[35]TUNG D,SUTER D,BAB-HADIASHAR,A Aircraft Approach Angle Estimation:Vision Based Landing[R].MECSE-28-2003.
[36]T.Cx.McGee,R.Sengupta et al.Obstacle Detection for Small Autonomousaircraft Using Sky Segmentation http://vehiele.me.berkeley.edu//tmcgee/researchphoto/2005_2.pdf.
[37]Fortes C Vpnik V,Support vector networks Machine Learning[M],1995.20:273-297
[38]E.Frew,R.Sengupta,et al.Vision-Based Road-Following Using a small Autonomous Aircraft[J],IEEE 2004:3006-3015.
[39]Current and Future UAV Military Users and Applications[J],.AIR & SPACE EUROPE.1999,1(5/6):51-58.
[40]王永寿.日本对无人机起飞与着陆技术的研究[J].飞航导弹.2005(3):45-49.
[41]吴森堂,费玉华.飞行控制系统.[M].北京航空航天大学出版社,2005.
[42]吴了泥.演示样机无动力横侧向控制律设计[D].南京航空航天大学,2005.
[43]马启鑫.RLV自动着陆段纵向控制律设计[D].南京航空航天大学,2005.
[44]孙春贞.无人机最简控制系统[D].南京航空航天大学,2003.
[45]赵国军.基于神经网络的自适应逆控制及在飞机自动着陆中的应用[D].西北工业大学.2003.
[46][德]鲁道夫·布罗克豪斯著.飞行控制(金长江译)[M].国防工业出版社.1999:122-368.
[47]Cao Yunfeng,Tao Yong,Shen Yongzhang.Guidance and Control for Automatic Landing of UAV[J].Transactions of Nanjing University of Aeronautics & Astronautics.2001,18(2):229-235.
[48]刘新华.基于视觉的无人机着陆姿态检测和跑道识别[D].南京航空航天大学,2003.
[49]陈海.无人机自主着陆控制综述及自主着陆控制系统设计[D].西北工业大学,2007.
[50]张才文,周同礼.某型无人机自动着陆轨迹研究[J].弹道学报.2000,12(2):74-77.
[51]Mafiano I.Lizarraga.Autonomous Landing System for a UAV[D].2004.3.
[52]宁东方.无人机自动着陆控制系统的设计与实现研究[D].西北工业大学.2006.03.
[53]陈海.无人机自主控制综述及自主着陆控制系统设计[D].西北工业大学.2007.03.
[54]杨向忠,章卫国,模糊控制方法及其在飞控中的应用[J],飞行力学.1998,16(4):42-46.
[55]章卫国,薛璞,杨向忠,肖顺达.舰载机自动着舰模糊控制系统的设计[J].飞行力学.1997,15(2):33-37.
[56]李爱军,沈毅,章卫国.飞机自动着陆的模糊控制系统设计[J].武器装备自动化.2002,21(6):4-7.
[57]Wang Rui,Zhou Zhou,Shen Yanhang.Robust Landing Control and Simulation for Flying Wing UAV[C].The 26th Chinese Control Conference.July 2007 Zhangjiajie,Hunan,China.
[58]胡寿松,王执铨,胡维礼.最优控制理论与系统[M].科学出版社.2005.
[59]左奇,刘慧英.H_∞控制理论在飞机阵风着陆控制中的应用[J].飞行力学.2001.06,19(2).
[60]王欣,史中科.高阶Raccati方程加权矩阵选择方法及其在飞控中的应用[J].航空学报.2005.05,26(3).