摘要
仿生扑翼飞行器作为一种新型的飞行器,具有噪声小、隐蔽性好、机动性强、能量利用效率高等优势,在民用和军用领域具有广阔的应用前景.仿生扑翼飞行器的自主飞行能力是高效执行飞行任务的关键.目前,国内外飞行器的自主飞行研究已经取得了一些成果,然而鲜有以仿生扑翼飞行器为载体的研究.仿生扑翼飞行器特有的驱动结构给自主飞行控制研究带来了较大的挑战.本文以仿猎鹰扑翼飞行器作为研究平台设计了自主飞行控制系统.由于仿猎鹰扑翼飞行器的负载较小,本文采用了重量较轻的STM32微型计算平台作为主控芯片设计了硬件系统.由于微型计算平台的算力有限,本文综合考虑制导精度和运算速度,提出了一种线性/非线性切换制导算法,并通过仿真实验与线性制导、非线性制导算法进行了对比,证明了其更加适合于仿猎鹰扑翼飞行器.考虑到仿猎鹰扑翼飞行器的机构滞后问题,对其滚转角和高度设计了一个串级PID控制器.结合面向仿猎鹰扑翼飞行器的地面站软件,最终实现了基于仿猎鹰扑翼飞行器的自主定高圆弧轨迹跟踪任务.
Bionic flapping-wing aircraft is a new type of aircraft with broad application prospects in the civil and military fields due to their low noise,good concealment,strong maneuverability,and high energy efficiency.The autonomous flying ability of bionic flapping-wing aircraft is the key to improving their flight efficiency.Although autonomous flight research on aircraft at home and abroad have made some achievements,few researchers have conducted corresponding studies on bionic flapping-wing aircraft.The unique driving structure of the bionic flapping-wing aircraft introduces great challenges to research on its autonomous flight control.In this paper,an autonomous flight control system is designed on the research platform of falcon flapping-wing aircraft.In consideration of the load problem of falcon flapping-wing aircraft,the hardware system is designed based on an STM32 microchip.A linear/nonlinear switching guidance algorithm is proposed considering the guidance accuracy and operation speed,due to the limited computing power of microcomputing platforms.Simulations prove that the proposed algorithm is more suitable for imitation falcon flapping-wing aircraft than linear guidance and nonlinear guidance algorithms.A cascade PID controller for roll angle and height is designed in consideration of the mechanism lag of falcon flapping-wing aircraft.By using this approach combined with ground station software for the imitation falcon flapping-wing aircraft,the task of autonomous fixed-height arc trajectory tracking based on imitation falcon flapping-wing aircraft is finally realized.
作者
孙永斌
马宝忠
贺威
何修宇
付强
Yongbin SUN;Baozhong MA;Wei HE;Xiuyu HE;Qiang FU(Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China;School of Automation and Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China)
出处
《中国科学：信息科学》
CSCD
北大核心
2022年第9期1656-1671,共16页
Scientia Sinica(Informationis)
基金
国家自然科学基金(批准号:62103040,61933001,62003029)
中国博士后科学基金(批准号:2021M690357)资助项目。
关键词
仿生扑翼飞行器
自主飞行
线性制导
非线性制导
轨迹跟踪
bionic flapping-wing aircraft
autonomous flight
linear guidance
nonlinear guidance
trajectory tracking
