基于非线性动态逆的无人机自动着陆控制系统

Control System of Automatic Landing of UAV Based on Nonlinear Dynamic Inversion

采用非线性动态逆(NDI)控制方法来解决无人机(UAV)自动着陆阶段的非线性控制问题。建立了无人机非线性数学模型,应用奇异摄动理论对飞机动态进行时标划分,研究快、慢状态子系统的控制器及机动产生器的设计,在无风情况下以及受到给定值风扰动情况下完成了系统自动着陆仿真验证。系统仿真结果表明该控制系统能够满足系统控制精度要求。

Nonlinear dynamic inversion （NDI） is used to solve the nonlinear control problem of automatic landing of unmanned aerial vehicle （UAV）. The nonlinear mathematical model of UAV is established. Singular perturbation theory is applied to divide the dynamic system into several simple sub-systems. Controllers of slow-state sub-system, fast-state subsystem and maneuver generator are designed. The control system of automatic landing is checked through simulation under the conditions without and with wind in certain directions. Conclusions can be drawn from the simulation as follows： the precision of the system can be satisfied with NDI controller.