无人机倾斜转弯非线性飞行控制系统设计

Nonlinear Flight Control System Design of Bank-to-Turn Unmanned Aerial Vehicle

研究无人机(UAV)的倾斜转弯(BTT)飞行控制系统的设计方法,解决UAV高机动倾斜转弯飞行时运动强烈耦合、气动特性强非线性和参数非定常性等特性带来的飞行控制系统设计难题。采用线性二次型最优调节规律对UAV非线性运动零动态系统进行增稳调节;运用非线性控制系统中精确反馈线性化方法对UAV非线性系统进行线性化处理;运用滑模变结构控制方法设计了UAV的BTT控制规律,得到由增稳最优调节规律和滑模变结构控制规律构成的UAV的BTT非线性鲁棒飞行控制系统。基于无人机六自由度非线性动力学模型,进行BTT非线性飞行控制系统数字仿真,仿真结果表明:该控制系统即使在扰动条件下也能达到满意的控制品质,控制系统的鲁棒性和控制精度能满足UAV高机动倾斜转弯飞行时的控制要求。

A method of designing a bank-to-turn （BTT） flight control system ot unmanned aerial vemcle （UAV） was studied to solve the problems cause by kinematics coupling, aerodynamic nonlinearity and parameter uncertainty. The zero dynamic system of nonlinear motion of BTT was adjusted for stability augmentation by the quadratic optimum adjustment law; the nonlinear system of BTT was processed linearly by the precision feedback linearization method; the control law of BTT was designed by a sliding mode variable structure control method to obtain the BTT flight control system with nonlinearity and robustness. The performance of the control system was analyzed by the digital simulation based on UAV six-freedom nonlinearly dynamic and kinematic model. The simulated reSults show that the control system can meet the needs of accuracy and robustness under the condition of perturbation.