无人机发射过程建模与控制方法研究

Study of control law and modelling on unmanned air vehicle launching process

考虑火箭助推器的推力和螺旋桨发动机产生的反扭矩对起飞过程的影响,建立了无人机发射过程的非线性数学模型。针对无人机在火箭助推起飞过程中存在的安全隐患,在飞行控制律中设计了针对升降舵的抗饱和补偿器。利用线性矩阵不等式理论,分析了该补偿结构的闭环稳定性,并给出一种抗饱和补偿增益的计算方法。最后,通过对零长发射过程进行非线性模型数学仿真,验证了该补偿结构的有效性和可行性。

In this paper, the general motion equations of an unmanned air vehicle in consideration of the rocket thrust and the inverse torque of propeller jet are outlined and derived. A modified anti-saturation compensator has been designed to ruduce the saturation of the elevator based on the possible factors which affect the UAV launch safety. It analyzes the closed loop stability of the augmented system using the linear matrix inequality theory, and a method on calculating the anti-saturation compensation gain has been discussed. The nonlinear numerical simulation results of the UAV launching process are completed, its results show that the anti-saturation compensator is efficient and feasible.