无人机零长发射影响因素分析及控制律设计

Analysis of influence factors and control law design for zero-length launch of UAV

针对无人机零长发射的安全性问题,首先,根据单发夹角式火箭助推方式和某无人机特点,建立了其零长发射起飞的非线性六自由度运动模型;然后,仿真研究了发射角、火箭安装角、重心和火箭推力线偏差、火箭作用时间,以及常值风干扰等因素对起飞安全性的影响;最后,设计了基于姿态角反馈的起飞控制律和控制策略。仿真与试飞结果表明:影响零长发射起飞安全的主要因素是火箭推力线偏差和侧风干扰;通过选择合适的发射参数并严格控制其误差范围,尽早启控舵面参与姿态控制增稳补偿力矩扰动,可提高无人机零长发射起飞安全性。

Aiming at the safety of zero-length launch of UAV,the nonlinear 6-DOF motion model is established based on the single-shot angle rocket booster mode and the characteristics of the UAV.Then,the effects of launch angle,rocket mounting angle,center of gravity and thrust line deviation,rocket action time and constant wind interference on launch safety are studied by simulation.Finally,the takeoff control law and control strategies based on attitude angle feedback are designed.Simulation and flight-test results show that the main factors affecting the safety of zero-length launch are thrust line deviation and crosswise interference,and by selecting appropriate launch parameters and strictly controlling the error range,the safety of zero-length launch and takeoff of UAV can be improved by starting the control surface deflect as early as possible to participate in attitude control,increasing stability and compensating torque disturbance.