轮式起降无人机安全起飞纵向控制

Safety-concerned longitudinal control strategy for takeoff phase of UAV

为了提高无人机在风干扰下的起飞安全性,对无人机常规起飞纵向控制方案加以改进,提出了基于直接升力控制的安全起飞纵向控制方案.采用由低通滤波器和超前补偿通道组成的组合滤波方案,用以解决所提出控制方案中无人机升降速度信号的精确获取问题,通过所研制的专用升降测试台和基于频谱分析的设计方法,对组合滤波方案进行了参数选取和仿真验证.基于Matlab/Simulink仿真环境建立某型无人机的全量非线性数学模型,通过仿真设计相应的襟翼偏转控制律.仿真结果表明,应用组合滤波方案获取的升降速度信号精度较高,满足起飞控制的使用要求.安全起飞纵向控制方案可显著增强无人机的抗干扰能力,从而提高起飞过程的安全性.

In order to heighten the safety of unmanned aerial vehicle （UAV） taking off in atmospheric disturbance environment, a new safety-concerned longitudinal control strategy based on direct force control method was discussed as an improvement of the regular longitudinal control strategy for the takeoff phase of UAV. A combined filtering method was employed to resolve the acquisition of high-precision vertical speed signal of UAV, parameter selection and validation was carried out through frequency domain analysis method using the special testing equipment, the result verifies its feasibility and practicability, which satisfies the need of takeoff control. The nonlinear model of UAV was built in the Matlab/Simulink environment and then the flap control law was designed in accordance with the new control strategy. The simulation results show that the new control strategy is capable of enhancing the disturbance-resistance ability of UAV remarkably, thus ameliorating the safety performance of the takeoff phase.