鸭式布局无人机直接升力控制系统设计

Design of the direct lift control system of the canard layout uav

传统固定翼无人机纵向控制系统的耦合度较高,这是由于升力的改变必须通过机体姿态变化得到。本文根据某鸭式布局无人机模型设计了经典直接升力控制律,实现了飞机飞行轨迹和姿态之间的稳态解耦,提高了高度控制通道的动态响应,并且采用副翼同时同向偏转的方式提供了更大的直接升力,获得更快的纵向系统响应。提出了采用显模型跟踪解耦系统设计无人机直接升力控制系统方案,实现纵向位置控制和姿态控制动态解耦,仿真结果表明,本文设计的显模型跟踪解耦系统解耦性能较高,并且对于气动参数摄动具有较强的鲁棒性,位置控制和姿态控制的动态性能良好。

The coupling of the traditional fixed-wing UAV longitudinal control system is higher, because the change of lift must be obtained by the Euler angle change. According to a duck-type layout drone model, the classic direct lift control law is designed, which realizes the steady-state decoupling between the flight path and attitude of the aircraft, and improves the dynamic response of the height control channel. And the aileron provides simultaneous direct lift in the same direction of deflection, resulting in faster longitudinal system response.The direct lift control system designed by explicit model tracking decoupling system is proposed, which realized dynamic decoupling of longitudinal position control and attitude control. The simulation results show that the explicit model tracking decoupling system designed has high decoupling performance and is robust to aerodynamic parameter perturbation. And the dynamic performance of position control and attitude control is good.