多螺旋桨太阳能无人机航向控制分配方法

Directional control allocation of a multi-propeller solar UAV

针对太阳能无人机飞行过程能源优化问题,通过研究类‘太阳神’大尺度太阳能无人机的特点,提出能源模块化管理方法,并讨论无人机高度势能储能方法,同时建立太阳能辐射强度模型;考虑到无人机配置有多个螺旋桨,引进控制分配算法,在能源模块化的基础上,针对一天中不同时段,可利用能源存在差异的情况,分别采用变权伪逆法和变约束再分配伪逆法以对无人机航向进行控制。仿真结果表明,这2种分配方法均能使太阳能无人机在100 s内,达到控制目标,取得良好的控制效果。

In order to study the optimization problem of a solar-powered unmanned aircraft vehicle （ UAV） , this pa-per presents the characteristics of a large sized solar UAV similar to′Apollo′, and on this basis, proposes the mod-ular energy management method and potential energy storage approach, with the consideration of the properties of high aspect ratio, multi-propeller solar of UAV.A model of solar radiation intensity was built.The control allocation algorithm was introduced considering the property of multi-propeller.Based on the modular energy management sys-tem and variation of solar energy at every moment, pseudo-inverse method with variable weight and redistribution pseudo-inverse method with variable constraint were designed to realize directional control.Simulation results showed that these two methods can obtain good control effects which promise the UAV to reach the target in 100 seconds under different situations.