基于Backstepping的飞行控制系统设计

Design of Flight Control System Based on Backstepping Theory

现代无人机多采用多操纵面设计,这样使其性能有很大的提高,但是同时也导致了飞机控制系统设计复杂度的增加。尤其在其大迎角飞行时,是一个非线性、时变、耦合的多输入多输出(MIMO)系统,这更增加了控制系统设计的复杂度。文中针对这个问题,提出了一种基于Backstepping(回推控制)的控制律设计方法,克服了传统增益调参法需要纵横向解耦、参数切换等缺点,且具有调节时间短、超调量小、鲁棒性强和易于工程实现等优点。将无人机迎角、侧滑角和滚转角速度作为被控指标设计控制律。通过对某型无人战斗机进行飞行控制律的设计分析,得到了满意的控制效果。

Multi-control surfaces design is used in modem UAV. This improves UAV＇s performance a lot,but leads to increase the complexity of the aircraft control system design. Especially in the high attack angle of flight ,it is a nonlinear, time-varying; coupling and multiple-input multiple-output system. To address this issue,present a control design based on Backstepping. This method don＇t need decoupiing on the vertical and horizontal, parameter switching and so on. And it has a short settling time,small overshoot and strong robustness and easy engineering implementation, etc. The attack angle velocity, sideslip angle velocity and roll angular velocity of the UAV is used as control targets to design control law. By the control law design and analysis of a certain type of unmanned aircraft flight, get satisfactory control effect.