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机动飞行能力作为无人机任务扩展的重要保证,受到各国的普遍重视。针对飞翼布局无人操纵能力不足、非线性和耦合性强的特点,提出一种非线性自适应控制方法。在所提的控制结构中,内环线性化解耦消除已知不利的耦合项,外环反步跟踪方法进行航迹跟踪,并采用粒子群补偿器补偿各种扰动和不可建模的耦合项,保证系统对各种扰动的自适应能力,且证明了该控制结构的稳定性。同传统反步控制方法相比,所提控制器增加了内环解耦结构。不同于传统的动态逆解耦控制方法,本文在控制结构中保留气动阻尼项,使得线性化后的系统为弱非线性系统。该结构不仅可以降低外环控制器设计的保守性,而且便于工程实现。仿真结果显示,该控制方案是有效的。
The capability of maneuvering flight as an important guarantee for the expansion of the mission of the UAV is universally valued by all countries. Aimed at the characteristics of unmanned flying wing layout, such as lack of manpower, nonlinearity and strong coupling, a nonlinear adaptive control method is proposed. In the proposed control structure, the inner loop is linearly decoupled to eliminate the known unfavorable coupling term and the outer loop backstepping method is used to track the trajectory. The particle swarm compensator is used to compensate for various perturbations and non-modeling coupling terms , To ensure the system adaptive to various disturbances, and to prove the stability of the control structure. Compared with the traditional backstepping control method, the proposed controller adds an inner loop decoupling structure. Different from the traditional dynamic inverse decoupling control method, this paper preserves the aerodynamic damping term in the control structure so that the linearized system is a weakly nonlinear system. The structure can not only reduce the conservative design of the outer loop controller, but also facilitate the realization of the project. Simulation results show that the control scheme is effective.