无人机航迹跟踪控制与仿真

Control and Simulation of UAV Trajectory Tracking

对于无人机的精确航迹跟踪问题进行了研究。系统分为基本姿态控制器设计和制导系统设计两个部分进行研究。利用多重时间尺度奇异摄动理论,结合非线性动态逆方法设计了基本姿态控制器,包括快逆回路和慢逆回路两部分。由引导飞机沿期望航迹的指令加速度解算出跟踪指令航迹所需要的制导力,求出飞机改变姿态所需的控制指令,作为基本姿态控制器的输入。针对某无人机模型进行了机动航迹跟踪仿真验证,仿真结果显示系统能够较好的跟踪指令机动航迹,证明了该方法的有效性和实用性。

In this paper a nonlinear flight trajectory tracking system applied to inverse control for UAV is synthesized. The system consists of a guidance law and a basic attitude controller. According to the singularity perturbation theory ,dynamic inversion is adopted to design the basic attitude controller including fast inverse loop and slow inverse loop. The guidance forces are deduced from the commanded acceleration for guiding the UAV flying along the desired trajectory. The attitude commands are calculated from Guidance forces for desired trajectory tracking and are fed into the basic attitude controller as input signals. Simulation results for an UAV are presented to illustrate the performance of the maneuver trajectory tracking control system. The results show the effectiveness and practicability of the method.