一种改进的微型飞行器非线性动态逆解耦控制研究

Research on an Improved Nonlinear Dynamic Inversion Decoupling Control of Micro-air Vehicle

针对微型飞行器在低雷诺数条件下具有明显的非线性、非定常及强耦合的特性,研究了一种改进的非线性动态逆与比例积分相结合的MAV非线性解耦控制方法。首先,应用奇异摄动理论对MAV进行时标分离,研究快、慢状态子系统的控制器设计;其次,将比例积分环节引入控制器中,以消除非线性对消误差带来的影响;最后,对系统进行了仿真验证,仿真结果表明非线性动态逆与比例积分结合的方法能够有效实现MAV的解耦控制,具有实用价值。

In the condition of low Reynolds number, micro-air vehicle is of nonlinear, unsteady flight dynamics and strong coupling actions. This paper discusses an improved nonlinear decoupling control method of MAV by nonlinear dynamic inversion combined with proportional and integral （PI）. Firstly, it adopts singular perturbation theory to divide the dynamic system into. several simple subsystems and studies controller design of slow-state subsystem, fast-state subsystem, then in order to ehminate nonlinear cancellation error, PI cancellation loop is added to the control system. Lastly, the control system is simulated. The results demonstrate that the controller proposed in this paper can accomplish the decoupling control for MAV.