基于微分几何方法的飞翼无人飞行器解耦飞行控制

The Attitude Decoupling Control of the Flying Wing UAV Based on the Differential Geometry Method

飞翼布局无人飞行器由于特殊的气动布局,各通道间具有强烈的耦合效应,解耦控制是其研究的热点问题。首先,针对无人飞行器线性解耦控制中两种常见方法的不足,采用微分几何方法对其进行了解耦控制设计;其次,由于系统仿射模型难以满足微分几何线性化方法中线性化条件的困难,提出了构造标称输出函数的方法;最后,仿真结果表明,基于微分几何方法的飞翼无人飞行器姿态解耦控制可以满足工程需要。

Abstract： With the special aerodynamic layout, the flying wing has a strong coupling effect between the channels, and decoupling control is a hot issue in its research. Firstly, the dccoupling control design of the two common methods in the linear decoupling control of un- manned aerial vehicle is introduced. Secondly, because the system affine model is difficult to satisfy the linearization condition of the differ- ential geometric linearization, the method of constructing nominal output function is put forward. Finally, the simulation results show that the attitude decoupling control of flying wing unmanned aerial vehicle based on the differential geometry method can meet the engineering requirements.