无人机滑跑侧翻现象建模与控制设计

The Modeling and Control Design of UAV's Taxiing Side Tumbling

无人机的安全滑跑是整个飞行任务的基础,也是其重复使用的重要前提。以前三点式无人机为研究对象,重点研究了滑跑阶段的安全保护策略以及航向保持控制律。首先对滑跑过程中最常见的侧翻现象进行建模,并通过侧翻试验验证了模型的正确性。然后基于侧翻模型提出了预防侧翻的安全边界,并设计了侧翻保护系统。其次,通过试验辨识出前轮转角对航向角速度的传递函数,在此基础上设计了滑跑航向控制律,并改变了操纵手的航向操控模式。最后,滑跑试验结果表明,带有侧翻保护功能的滑跑航向控制系统能够有效完成无人机的滑跑任务。

The UAV's safe taxiing is the basis of flight mission and important prerequisite of reuse.In this paper,the safety strategy and course keeping control law of the UAV with nose-wheel landing gear in taxiing phase are mainly studied.First,the phenomenon of side tumbling,frequently occurring in taxiing phase,is modeled and analyzed,and the model is verified by side tumbling experiments.According to the proposed safety boundary of side tumbling,the protection system is designed.Second,the transfer function from nose wheel angle to course angular velocity is obtained through model identification.On this basis,the control law of taxiing course is designed and the course control mode of manipulator is changed.Last,taxiing tests results show that the control law of taxiing course with side tumbling protection system can effectively complete the UAV's taxiing task.