伪逆法在无人机安全着陆控制中的应用

Application of Pseudo-Inverse Method in Control of UAV′s Safety Landing

鉴于着陆控制律设计相对飞机普通模态控制律设计较复杂的情况,由于飞翼布局无人机着陆过程中出现左升降舵卡死。针对这一特定故障采用伪逆法进行了着陆控制律重构设计。充分利用伪逆法结构简单且无需改变原控制律的优点,在非线性建模中,由于飞翼布局无人机的特殊气动布局和结构特点,考虑了纵向与横侧向的耦合性。同时,利用Matlab/Simu-link仿真工具进行了线性仿真和非线性验证,仿真结果验证了无人机仍能够实现安全着陆,且重构设计方法简单有效。

The design of aircraft landing control law is more complex than the design of common airplan mode con- trol law. Pseudo-Inverse Method is used to reconfigure the control law when the left elevator is deadlocking in the process of flying-wing UAV automatic Landing, without changing the designed control law for normal airplane, more- over, its structure is simple. Because of the exclusive pneumatic layout and structure peculiarity of flying-wing UAV, the coupling character of the longitudinal and lateral control was considered in non-linear modeling of UAV. At the same time, Matlab/Simulink was used to complete the linear and non-linear simulation. The simulation results dem- onstrate that UAV can still perform landing safely and the method is simple and effective.