基于波束空间二维谱峰搜索的无人机控制算法

Unmanned Aerial Vehicle Control Algorithm Based on Two Dimensional Spectrum Peak Searching for Beam Space

无人机作大范围机动航行时,由于陀螺仪的交连误差导致飞行稳定性不好,需要进行稳定性控制。传统的控制算法采用扇面波束空间约束加权误差修正算法,不能有效满足姿态大范围变化的控制需求。因此,提出一种基于波束空间二维谱峰搜索的无人机飞行鲁棒性控制算法。描述了无人机作大范围机动航行的控制约束参量模型和纵向运动数学模型,采用相干分布源采集飞行姿态数据,根据姿态数据解出无人机的动力系数、传递函数和频域特性等控制约束参量;采用波束空间二维谱峰搜索方法进行陀螺仪的交连误差补偿和自适应控制,较好地处理无人机不确定动态运动系统的控制问题。仿真结果表明,采用该算法进行无人机飞行控制,较好地削弱了陀螺仪的交连误差对飞行姿态的速度和位置等参量带来的波动,飞行姿态解算的误差结果较小,控制品质较高。

Due to the error of the gyroscope, the stability of the aircraft is not good, and the stability control is needed when the Unmanned Aerial Vehicle （UAV） is maneuvering in a large scale. The traditional control algorithm uses constrained weighted error correction algo- rithm of fan beam space and cannot effectively meet the attitude changes in the scope of the control demand. Therefore, a robust control algorithm for UAV flight based on two-dimensional spectrum peak searching is proposed. It describes the control constraint parameter model and mathematical model of longitudinal motion when UAV navigating in a wide range, and uses coherent distributed source for ac- quisition of flight attitude data by which the control constraints parameters like dynamic coefficients, transfer function and frequency char- acteristics for UAV are solved,and applies beam space 2-D spectral peak searching method for even error compensation and adaptive control of gyroscope, better processing of UAV uncertain problem of dynamic system control. The simulation results show that the pro- posed algorithm is used to carry out UAV flight control, which can effectively reduce the error of the gyro and the flight chattering, and the result of the error is small and the control quality is high.