摘要
对无人机滑翔翼横滚姿态的控制,能够有效实现无人机稳定飞行控制。对滑翔翼横滚姿态的稳定控制,需要定义其滑模切换函数,对控制系统不确定性进行估计,完成对横滚姿态的稳定控制。传统方法先解算多旋翼无人机的姿态,组建时间状态空间模型,但忽略了对控制系统不确定性进行估计,导致控制精度偏低。提出基于波束域加权的无人机滑翔翼横滚姿态稳定控制方法。采用非线性取代积分构建的无人机飞行姿态控制坐标系,获取无人机滑翔翼横滚运动方程,得到协方差矩阵的波束域奇异值的分解函数,给出误差补偿和自适应跟踪的状态方程,定义其滑模切换函数,对控制系统不确定性进行估计,设计无人机滑翔翼横滚姿态自适应反演滑模控制律,以此为依据完成对无人机滑翔翼横滚姿态稳定控制。实验结果表明,所提方法控制精度高,可以为提升无人机的飞行质量奠定基础。
A stabilization control method of roll attitude for hang glider of unmanned aerial vehicle （UAV） is pro- posed based on beam domain weighting. The coordinate system of flight attitude control of UAV built by nonlinear re- placement integral is used to acquire roll motion equation of the hang glider, and decomposition function of singular value of covariance matrix in bean-space domain is obtained, then state equation of error compensation and self-a- daption tracking is provided, and its switching function of sliding mode is defined. The uncertainty of control system is estimated and control law of adaptive inversion sliding mode for the roll attitude of hang glider is designed. On that basis, the attitude stabilization control is completed. Simulation results show that the method has high control preci- sion. It can lay foundation for improving flying quality of the UVA.
作者
江卉
JIANG Hui(Luoyang Research Institute of Electro-Optical Equipment of China AVIC, Luoyang Henan 471023, China)
出处
《计算机仿真》
北大核心
2017年第11期49-52,共4页
Computer Simulation
