基于遗传算法的半开环单侧副翼卡死控制

A Method for Semi-Open Loop control of Single Aileron Jam Based on Genetic Algorithm

无人机副翼卡死会严重影响无人机的操纵性和安全性。针对单侧副翼极限位置卡死故障,提出了一种根据侧滑配平的半开环控制方法,该方法在不引入侧滑角反馈的情况下,通过侧滑角指令与洗出网络代替偏差量,利用副翼和方向舵产生一定的侧滑角来平衡滚转力矩。首先,分析了在不同侧滑下配平卡死故障的可能性,并提出了半开环控制方案;然后,基于经典PID结构研究了侧滑角指令生成和控制的方法;最后,为了改善半开环系统的性能,通过遗传算法对参数进行优化。仿真结果表明通过遗传寻优的半开环控制方案能使无人机在单副翼极限卡死时快速稳定,恢复操纵性能,该方案具有一定的可行性和合理性。

The aileron jam of an unmanned aerial vehicle （UAV） seriously affects its flight safety and maneuver- ability. This paper studies the UAV that has a single aileron jam at its extreme position and then proposes a semi- open loop eontrol method based on sideslip trimming. Without introducing the feedback of a sideslip angle, the method uses the sideslip instruetion and washout network instead of deviation in order to balance the rolling moment with the sideslip generated by the aileron and rudder of the UAV. The paper first studies different sideslips that＇may trim jam faults and proposes the semi-open loop control method. Then it presents the sideslip instruction generation and eontrol method based on the classical PID structure. Finally, in order to enhance the performance of semi-open loop control system, it uses the genetic algorithm to optimize its parameters. The simulation results show that the semi-open loop control method based on the genetic algorithm can quickly stabilize the UAV and recover its opera- tion performance when the single aileron jam occurs, indicating that the control method is feasible and reasonable.