水上无人机自主着水控制系统设计

Autonomous landing control system design for an unmanned seaplane

针对水上无人机在高海况下的着水问题,本文在分析了不同着水阶段特性的基础上,提出了一种自主着水控制系统设计方案.该方案将整个系统分为速度控制子系统和姿态控制子系统.速度控制子系统包含速度动态逆控制器和油门切换模块,姿态控制子系统包含海浪滤波器俯仰角反步控制器、高度PID控制器、俯仰角切换模块和T-S模糊推理模块.其中,海浪滤波器能有效滤除受扰姿态角中的海浪高频扰动,避免了着水之后舵面的频繁抖动;俯仰角反步控制器采用指令滤波的反步法设计,有效缓解了高海况下的舵面饱和问题.最后,在不同海况条件下进行了仿真.仿真结果表明所设计的控制系统具有良好的控制性能.

For landing of an unmanned seaplane in severe sea states, we propose a new autonomous landing control system design scheme, based on the analysis of the characteristics in different landing phases. This scheme divides the total system into a velocity control subsystem and an attitude control subsystem. The velocity control subsystem consists of a velocity dynamic inversion controller and a throttle switch module, while the attitude control subsystem consists of a wave filter, a pitch angle backstepping controller, an altitude PID controller, a pitch angle switch module and a T-S fuzzy reasoning module. The wave filter can effectively filtrate the wave-frequency motion from the disturbed attitude angle,avoiding the chattering of the elevator after landing. The command filtered backstepping method is used to design the pitch angle controller, which can reduce the actuator saturation in severe sea states. Finally, simulations are performed in different wave conditions. Results show that the designed control system has satisfactory performance.