摘要
以全翼布局太阳能无人机为研究对象,针对其滑跑过程中没有前轮转向伺服和方向舵等进行控制的问题,提出了采用螺旋桨动力差动进行滑跑控制的方法。首先,建立了起落架前轮自由转向和前轮固支2种布局形式的全翼布局太阳能无人机滑跑模型,并对其在不同速度下的滑跑特性进行分析。然后,基于线性自抗扰控制方法设计了以螺旋桨动力差动为控制输出的偏航角控制器。最后,通过改进向量场轨迹跟踪方法,设计了适合起降滑跑的直线轨迹跟踪器。仿真结果表明,所设计的控制器能够对全翼布局太阳能无人机的起降滑跑过程进行有效控制,并具有较好的鲁棒性。
To solve the taxiing control problem of the full-wing solar-powered unmanned aerial vehicle (UAV) without front wheel steering servo and rudder, a control approach using differential propeller thrust to control the taxiing is proposed in this paper. Firstly, the taxiing mathematical models of two kinds of full-wing solar-powered UAVs with the front wheels turning freely or fixed are established. Meanwhile, the taxiing characteristics of full-wing solar-powered UAV in different taxiing speeds are analyzed. Secondly, based on the linear active disturbance rejection control (LADRC) theory, a yaw angle controller is designed by using differential propeller thrust as the control output. Finally, a straight line trajectory tracking scheme which is suitable for take-off and landing taxiing is designed on the base of improved vector field theory. Simulation results show that the designed controller has a good control effect on full-wing solar-powered UAV’s take-off and landing taxiing periods, and better robustness.
作者
马振宇
祝小平
周洲
MA Zhenyu;ZHU Xiaoping;ZHOU Zhou(School of Astronautics, Northwestern Polytechnical University, Xi′an 710072, China;School and Technology of Unmanned Aerial Vehicle Laboratory, Northwestern Polytechnical University, Xi′an 710065, China;School of Aeronautics, Northwestern Polytechnical University, Xi′an 710072, China)
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2019年第1期7-12,共6页
Journal of Northwestern Polytechnical University
关键词
全翼布局
太阳能无人机
螺旋桨动力差动
滑跑控制
轨迹跟踪
线性自抗扰
full-wing
solar-powered UAV
differential propeller thrust
taxiing control
trajectory tracking
linear active disturbance rejection control (LADRC)
improved vector field theory
design
simulation
