自适应串级自抗扰弹性飞翼无人机姿态控制

Adaptation cascade active disturbance rejection controller for flexible flying wing UAV attitude control

文中针对飞翼无人机因其宽泛的飞行包线和特殊的布局带来的飞行控制技术难点,给出了一种自适应串级自抗扰飞翼无人机宽包线控制算法。首先,推导了适用于该算法的弹性飞翼无人机的非线性数学模型;其次,分别设计了弹性飞翼无人机的内环和外环自抗扰姿态控制器。自适应自抗扰控制器利用扩张状态观测器进行估计并动态反馈补偿,再利用NLSEF抑制补偿残差;不需要无人机精确的模型参数,也无需精确的气动参数及摄动界限。仿真分析显示所设计的自适应自抗扰控制器较好地解决了弹性飞翼无人机从低空低速到高空高速的鲁棒控制,能够克服干扰及气动模态参数大范围摄动的影响。

The full envelope robust control of flying wing UAV is a difficult point because of its wide envelope and non-conventional layout. In this paper, a flight control scheme was proposed based on adaptation cascade active-disturbance-rejecdon control （ADRC） technique. The robust control design was divided into two steps; Firstly, a nonlinear mathematical model for the algorithm of flying wing UAV was deduced. Secondly, the flying wing UAV inner and outer ADRC attitude controller were designed respectively, the extended state observer was used to estimate and implement dynamic feedback compensation, and then the NLSEF was used to inhibit the compensating residual; ADRC controller was designed without a precise model of vehicle, and without precise perturbation boundaries of aerodynamic parameters. The simulation shows that the control structure is robust from low altitude and low speed to high altitude and high speed. The control system can overcome the impact of large-scale perturbations of interference and aerodynamic parameter.