复杂地形单兵无人机精准投弹稳定控制研究

Precise Bomb Stability Control of UAV with Complex Terrain

针对单兵无人机悬停投弹时质量递次减小及重心变化所导致的弹丸投弹初始条件的改变,利用串级模糊PID控制方法对单兵无人机进行飞行稳定性控制,从而提高弹丸的落点精度。在建立无人机不平衡负载下的飞行动力学模型的基础上,利用模糊方法对串级PID控制中的参数实时调整,使其始终保持最优的控制状态,减小弹丸投放初始条件的误差。通过仿真验证表明:在400 m高度投放弹丸时,采用串级模糊PID控制方法的无人机,其投弹的落点精度较传统PID控制方法提高76%。串级模糊PID控制方法可应用于复杂地形下的以投弹为主要任务的单兵无人机,有效提高该类无人机的投弹精准度。

In view of the change of the initial conditions of projectile bombing caused by the decrease of quality and the change of center of gravity when the individual UAVs hovered and bombed,the cascade fuzzy PID control method was used to control the flight stability of the individual UAVs,thereby to improve the bomb placement accuracy.Based on the flight dynamics model of UAVs under the unbalanced load,the fuzzy method was used to adjust the parameters in the cascade PID control in real time to keep the optimal control state and reduce the error of the initial conditions of the projectile.The simulation comparison shows that the accuracy of the bombing with the cascade fuzzy PID control method is 76%higher than that of the traditional PID control method when the projectile placed at a height of 400 m.The cascade fuzzy PID control method can be applied to the individual UAVs with the main task of bombing under complex terrain,which can effectively improve the bombing precision of this type of individual UAVs.