摘要
采用控制分配技术对菱形翼布局无人机进行控制律设计,可以充分发挥其多舵面的优势,且在故障情况下进行控制重构而不改变飞行控制律。采用PID方法设计以虚拟舵面为输入的基本控制律,然后分别采用不动点迭代法、序列二次规划法(SQP)设计线性、非线性控制分配律,对比两种控制分配方法对控制系统的影响。经过仿真验证表明,由于阻力舵非线性舵效的影响,线性分配方法对指令的跟踪存在一定的误差,但是通过调整航向增稳系统的控制增益可以使控制系统具备足够的鲁棒性以克服跟踪误差的影响;非线性控制方法可以准确跟踪控制指令,但是其比线性分配方法计算耗时长。
Control surfaces of diamond-wing UAV can be taken full advantage of by control allocation.Moreover,the control reconfiguration won＇t change the control law if the control surfaces fail. The basic control law was designed by PID control theory,the Linear control allocation law was designed by fixpoint method and nonlinear control allocation law was designed by SQP method. At last,effect to the control system of the two methods was compared. The simulation shows that linear control allocation method causes tracking errors. However,by adjusting the control gain of the stability augumentation control system,the robustness of the control system is improved and the effect of the tracking errors is eliminated.Nonlinear control allocation method could track the virtual commands precisely. However,it takes more time to accomplish the simulation.
出处
《飞行力学》
CSCD
北大核心
2016年第2期5-9,14,共6页
Flight Dynamics
基金
国家自然科学基金资助(11202162)
关键词
菱形翼布局
控制分配
不动点法
SQP法
diamond-wing UAV
control allocation
fix-point method
SQP method
