一种无人机大机动飞行控制方法

A Control Design Method of UAV for Maneuver Flight

研究了无人机进行大机动的控制问题,提出了一种传统动态逆控制方法的改进方法。在外环的气流角控制器中,通过引入加速度反馈,避免了传统方法的气动力估算环节,从而提高了对气动数据不准确的鲁棒性。在内环的角速率控制器中,使用基于LPV(linear parameter-varying)系统鲁棒PI控制方法,从理论上保证了整个机动飞行过程中的鲁棒性。仿真结果表明,提出的方法能够实现无人机纵向和横航向同时进行机动的控制,同时具有较好的控制性能。

An improved control method based on nonlinear dynamic inversion is proposed to solve the maneuver control problem of UAV（unmanned aerial vehicle）.Acceleration feedback is introduced in the outer loop to avoid estimation of the aerodynamic forces,and thus the robustness is enhanced to uncertainties in aerodynamic data.For the angle rate controller in the inner loop,LPV-based PID control method is used to guarantee the robustness in the whole process.The simulation result shows that the proposed method is able to control the UAV to perform maneuver flight in both longitudinal and altitudinal axis with good performance.