Hex-Rotor无人飞行器及其飞行控制系统设计

Hex-Rotor aircraft and its autonomous flight control system

提出了一种Hex-Rotor无人飞行器以克服现有多旋翼飞行器的欠驱动和强耦合特性对其飞行控制效果的影响,利用6个旋翼独特的结构配置来保证飞行器独立控制空间六自由度的能力。介绍了这种新型飞行器的结构特点并建立其动力学模型,引入滤波反步法与自抗扰算法设计了具有双环并行结构的飞行控制系统,在数字仿真中实现了飞行器的空间六自由度独立控制并克服了未知外部扰动以及模型不确定性带来的影响。结果显示,原型机试飞实验中,飞行器的水平位移跟踪误差不超过±4m,高度误差不超过±3m,姿态角误差不超过±0.05rad,均保持在传感器的测量误差范围内,飞行器较为准确地跟踪了期望指令。仿真和实验结果证明了该新型Hex-Rotor飞行器具有期望的六自由度独立控制能力,建立的数学模型准确,设计的飞行控制系统能够实现轨迹与姿态跟踪飞行。

A novel Hex-Rotor aircraft was proposed to overcome the effect of under-actuation and strong coupling characteristics on the flight performance of existing multi-rotor aircrafts. Based on the unique configuration of six driving rotors, the Hex-Rotor aircraft has the ability to control the space 6- DOF channels independently. First, the structures and characteristics of the Hex-Rotor aircraft were introduced and its dynamic model was established. Then, an autonomous flight control system with a parallel double-loop structure was designed, in which the command-filter backstepping approach was introduced into the attitude stability augmentation control loop, and the translational controller based on the active disturbance rejection control technique was used in the position loop. Finally, the total independent control of the aircraft on 6-DOF channels was achieved in the numerical simulation andthe influences of unknown external disturbances and model uncertainties on the flight control perform- ance were overcome. The prototype experiment results indicate that the horizontal tracking errors, al titude errors and attitude errors for the aircraft are limited in ±4 m, ±3 m, and ±0.05 rad, respec tively, which are all according with the precision ranges of measurement units and mean that the pro totype has tracked the reference translational and attitude commands accurately. The simulation and experimental results verify that the designed Hex-Rotor aircraft has desired maneuvering capability, and the control system is able to guarantee the autonomous tracking flight of the aircraft.