高抗扰高精度无人机着舰纵向飞行控制

High-immunity high-precision longitudinal flight control for UAV's carrier landing

针对无人机着舰过程中舰尾流扰动和甲板运动扰动对着舰点散布的影响,对复杂着舰环境下的无人机着舰纵向控制策略、控制结构和控制律参数设计方法进行研究。针对常规控制结构抗扰能力不足的问题,提出了无人机着舰纵向多操纵面平衡态直接力控制(DFC)策略及控制结构。提出了面向着舰点散布的控制律参数优化设计方法,该方法在保证系统满足稳定裕度指标的基础上,综合考虑了舰尾流扰动和甲板运动扰动对着舰点散布的影响,使2种扰动造成的着舰点散布最小。构建控制律参数优化设计问题,通过粒子群优化(PSO)算法进行优化设计,得到高抗扰性能的控制律参数。在控制律参数优化中考虑舰尾流和甲板运动的功率谱密度分布,使设计更具有针对性,减小了控制律设计的保守性,进一步提高控制的抗扰性能。算例设计及仿真验证了多操纵面平衡态DFC控制结构在抵抗舰尾流扰动和甲板运动扰动方面的优异性能,并证明了所提控制律参数设计方法的有效性。

Research on the control strategy,control structure and control law parameter design method is developed in this paper to realize flight control with high-precision performance in the longitude channel of UAV,aimed at solving the impact of sophisticated landing environment,including both the air-wake disturbance and the deck motion disturbance,on touchdown points.First,longitudinal control strategy and structure based on direct force control （DFC） and multi-surface for UAV＆#39;s carrier landing are proposed on account of insufficient disturbance rejection ability of regular control structure.Second,an approach for designing control law parameters is presented.Control law parameters obtained by this approach which gives priority to the stability margin of the control system,make the position deviation from the ideal touchdown point to be the lowest under the sophisticated landing environment.A problem of optimum design based on this approach is constructed so that control law parameters with high-precision and high-immunity performance could be produced through particle swarm optimization （PSO） algorithm.The power spectrum densities of both the air-wake disturbance and the deck motion disturbance are analyzed to reduce the conservatism of the approach.Finally,the performance of the proposed longitudinal control strategy and structure is illustrated through being compared with the regular one.And the validity of the presented approach is also proved by calculation example and simulation.