摘要
面向空中作业时的大续航需求,系留式无人机是将旋翼飞行器与地面系泊单元相结合所提出的新型飞行器。实际作业中,系留缆绳的收放会引起无人机动力学性能变化,进而影响其轨迹跟踪控制;同时,由系统未建模特性与阵风干扰组成的集总干扰也将影响轨迹跟踪控制效果。针对上述问题,提出了一种基于扰动观测器的自适应滑模鲁棒控制算法。首先,引入悬链线理论描述系留缆绳的拉力变化,采用牛顿-欧拉方程建立整个系统的动力学模型。其次,在Lyapunov定理的框架下,利用扰动观测器来估计与补偿集总干扰,设计自适应滑模控制律来保证系统跟踪误差收敛。最后,通过仿真算例和试验分析,验证了本文控制策略的有效性,结果表明:所提控制算法比终端滑模控制算法具有更高的轨迹跟踪精度,能够帮助系留式无人机跟踪复杂轨迹。
The tethered Unmanned Aerial Vehicle(UAV)is a new type of aircraft developed for long-duration aerial taskswhich combines a rotorcraft with a ground tethered unit.In actual operationthe launch and recovery of a tethered cable will lead to changes of dynamic performance of the tethered UAVwhich will affect its trajectory tracking controland so does the lumped disturbances which contains unmodeled dynamics and gust disturbances.To solve the above problemsa robust adaptive Sliding Mode Controller(SMC)based on the disturbance observer is proposed.Firstlythe catenary theory is introduced to describe the tension of the tethered cable.The dynamic model of the whole system is established by using Newton-Euler equation.Secondlyunder the framework of Lyapunov theorythe disturbance observer is used to estimate and compensate for lumped disturbances and an adaptive SMC is designed to ensure the convergence of trajectory tracking errors.Finallythe effectiveness of the proposed controller is verified through the analysis of simulation cases and experiment.The results show that the proposed controller has a higher trajectory tracking precision compared with the terminal SMC and it can help the tethered UAV to track complex trajectories.
作者
丁力
虞青
刘凯磊
刘晨
郑欣
DING Li;YU Qing;LIU Kailei;LIU Chen;ZHENG Xin(College of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China;Jiangsu You Ai Wei Intelligent Technology Co.Ltd.,Changzhou 213001,China;Anhui Key Laboratory of Mine IntelligentEquipment and Technology,Anhui University of Science & Technology,Huainan 232002,China)
出处
《电光与控制》
CSCD
北大核心
2020年第12期95-100,共6页
Electronics Optics & Control
基金
国家自然科学青年基金(52005231)
江苏省基础研究计划(自然科学基金)(BK20170315)
江苏省科技计划项目(BY2018129)
江苏省高等学校自然科学研究项目(18KJB460010)
常州市应用基础研究计划项目(CJ20170010)
安徽理工大学重点实验室开放基金(201902007)。
关键词
系留式无人机
轨迹跟踪控制
扰动观测器
自适应滑模控制
集总干扰
tethered UAV
trajectory tracking control
disturbance observer
adaptive sliding mode control
lumped disturbances
