摘要
提出了一种采用方向舵和前轮联合作用的无人机地面滑跑纠偏控制方案,建立了包括起落架压缩特性和轮胎侧偏特性的无人机地面滑跑模型。针对不同速度下无人机运动特性的不同,并且考虑到纠偏过程平稳的要求,设计了一种变参数串级控制方案。仿真结果表明,所建模型合理可用,L_(1)滑跑纠偏控制方法在指令跟随方面与传统PID方法性能一致,在抗干扰方面比传统PID方法性能优越。
In this paper,a deviation control scheme for the unmanned aerial vehicle(UAV)with the rudder and front wheel is proposed,and a UAV ground model is established,where the compression characteristics of landing gears and the side-off characteristics of tires are involved.Based on the UAV ground model,a parameter-varying cascade control scheme is further designed considering the different motion characteristics of UAVs at different speeds and the requirements of the smooth.The simulation results show that the model built is reasonable and practical,and that compared with the traditional PID method,the designed control scheme performs almost the same as it in reference following and better than it in disturbance rejection.
作者
贾伟
孙哲芃
吴玉生
高安同
JIA Wei;SUN Zhepeng;WU Yusheng;GAO Antong(No.365 Institute,Northwestern Polytechnical University,Xi’an 710065,China;No.32204 Unit,Shaanxi Huayin 714200,China;Army Equipment Department Equipment Technical Cooperation Centre,Beijing 100036,China)
出处
《弹箭与制导学报》
北大核心
2021年第1期48-52,共5页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
无人机
地面滑跑模型
纠偏控制
unmanned aerial vehicle
ground slide model
deviation control
