基于自适应末端滑膜控制的无人机抖振抑制方法

Chattering suppression method of UAV based on adaptive terminal synovium control

无人机在飞行末端受到气流层的快速变化容易出现抖振,为了提高无人机飞行稳定性,提出一种基于自适应末端滑膜控制的无人机抖振抑制方法。采用自适应终端滑膜控制方法进行无人机末端轨迹飞行的抖振抑制,构建无人机末端轨迹飞行姿态稳定控制的姿态参数模型和动力学模型,分析无人机末端轨迹飞行的约束参量,将无人机末端轨迹飞行的抖振抑制问题转化为高维C-空间中的多约束运动规划问题,有效实现无人机的巡航、滑翔、着落等运动规划控制,在惯性姿态空间内构造无人机末端轨迹飞行姿态控制的滑膜面,采用终端轨迹自适应调节方法进行抖振抑制,实现无人机末端轨迹飞行姿态调节的自适应控制。仿真结果表明,采用该方法进行无人机末端轨迹飞行姿态控制的稳定性较好,抖振抑制性较好,在末端轨迹飞行姿态调节过程中能实现鲁棒性控制,提高了末端轨迹飞行姿态调节的控制精度。

UAV is prone to buffeting at the end of flight by the rapid change of airflow layer in order to improve the flight stability of UAV. A buffeting suppression method for UAV based on adaptive terminal synovial control is proposed. The adaptive terminal synovial control method is used to suppress the buffeting of UAV terminal trajectory, and the attitude parameter model and dynamic model of UAV terminal trajectory flight attitude stability control are constructed. By analyzing the constraint parameters of UAV terminal trajectory flight, the chattering suppression problem of UAV terminal trajectory flight is transformed into a multi-constrained motion planning problem in high-dimensional C-space, which can effectively realize the cruise and glide of UAV. In the inertial attitude space, the synovial surface of the UAV terminal trajectory flight attitude control is constructed, and the chattering suppression is carried out by the terminal trajectory adaptive adjustment method. The adaptive control of UAV terminal trajectory flight attitude adjustment is realized. The simulation results show that this method has good stability and good buffeting suppression for UAV terminal trajectory flight attitude control, and it can realize robust control in the course of terminal trajectory flight attitude adjustment. The control accuracy of terminal trajectory att让ude adjustment is improved.