倾转定翼无人机的动力学建模与控制

Dynamic modeling and control of tilting fixed wing UAV

为了提高整个飞行器在过渡模式下的运动稳定性,提出一种基于李雅普诺夫理论及李雅普诺夫指数趋近律的滑模变结构控制算法.与经典比例微分(PID)方法和滑模PID对比分析可知:对于飞行环境恶劣、动力学特性复杂和难以准确动力学建模的倾转定翼无人机,本算法具有更高的鲁棒性和稳态控制精度.本研究通过结构优化的方法分析了飞行器结构参数与整个系统运动稳定性的量化关系,指出在一定范围内可以通过增大机翼面积提高飞行的稳定性.

A sliding mode variable structure control algorithm was proposed based on Lyapunov theory and Lyapunov exponential convergence law to improve the stability of the entire aircraft in the transition mode.Compared with the classical PID(proportionintegral-derivative)method and the sliding mode PID algorithm,for tilting fixed wing UAVs which has poor flight environment,complex dynamics and difficult to model accurately,this algorithm had strong robustness and high steady-state control accuracy.The quantitative relationship between the structural parameters of the aircraft and the motion stability of the whole system was analyzed through the method of structural optimization,points out that the stability of flight can be improved by increasing the wing area within a certain range.