菱形翼布局无人机自抗扰直接升力着陆控制

Landing Strategy of Diamond-Wing Unmanned Aerial Vehicle Based on Direct Lift Control

针对采用传统的着陆控制方法时,菱形翼布局无人机存在着陆俯仰姿态角为负,对无人机着陆不利的情况,提出一种采用直接升力进行着陆的控制方案,可以实现着陆轨迹与着陆姿态之间的解耦,使得无人机可以以较好的姿态进行着陆。采用自抗扰控制(ADRC)方法分别设计了无人机非线性直接升力控制律以及着陆轨迹跟踪控制律。仿真结果表明:采用ADRC设计的非线性直接升力控制律可以实现直接升力控制的3种模式,并且对气动参数摄动具有较强的鲁棒性;采用直接升力着陆控制方法可以使得无人机以有利的姿态进行着陆,同时在近地面突风作用下,无人机依然可以以较好的姿态进行着陆。

In the case of using the traditional landing strategy, the landing pitch angle is negative, which causes great harm to the landing safety of the unmanned aerial vehicle（UAV）. A new landing strategy based on direct lift control is proposed, which can decouple the landing trajectory and landing attitude, in this way, the UAV can land with better attitude. The nonliear direct lift control law and the landing trajectory tracking law of UAV are designed based on active disturbance rejection control（ADRC） technique. Simulation results and analysis show that the nonlinear direct lift control based on ADRC can achieve three modes of direct lift control, and owns strong robustness to the uncertainty of aerodynamic parameters. The UAV can land with good attitude through direct lift control, besides, in the near ground gust, UAV can maintain a better landing attitude.